ford: narrow lateral path interface

Assisted-by: Codex

.github/workflows/build-all-tinygrad-models.yaml

@@ -8,13 +8,13 @@ on:
         required: true
         type: string
       target_hardware:
-        description: 'Hardware target to compile for (qcom or chestnut)'
+        description: 'Hardware target to compile for (qcom or usbgpu)'
         required: true
         type: choice
         default: 'qcom'
         options:
           - qcom
-          - chestnut
+          - usbgpu
       hf_repo:
         description: 'Hugging Face dataset repository'
         required: false
@@ -59,7 +59,7 @@ jobs:
         id: get-json
         run: |
           cd docs/docs
-          PREFIX="driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_' || '' }}v"
+          PREFIX="driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_' || '' }}v"
           latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
           next=$((latest+1))
           json_file="${PREFIX}${next}.json"

.github/workflows/build-default-models.yaml

@@ -176,7 +176,7 @@ jobs:
   build_big_model:
     needs: resolve
     if: ${{ inputs.target == 'big' }}
-    runs-on: [self-hosted, chestnut]
+    runs-on: [self-hosted, usbgpu]
     env:
       BIG_ONNX: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
       BIG_PKL: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

.github/workflows/build-single-tinygrad-model.yaml

@@ -30,7 +30,7 @@ on:
         type: boolean
         default: true
       target_hardware:
-        description: 'Hardware target to compile for (qcom or chestnut)'
+        description: 'Hardware target to compile for (qcom or usbgpu)'
         required: false
         type: string
         default: 'qcom'
@@ -101,7 +101,7 @@ on:
         default: 'qcom'
         options:
           - qcom
-          - chestnut
+          - usbgpu
       hf_repo:
         description: 'Hugging Face dataset repository'
         required: false
@@ -109,7 +109,7 @@ on:
         default: 'sunnypilot/sunnypilot_models_v1'
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_v' || 'v' }}${{ inputs.json_version }}.json
+  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_v' || 'v' }}${{ inputs.json_version }}.json
 
 jobs:
   build_model:

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

@@ -31,7 +31,7 @@ on:
         type: string
         default: ''
       target_hardware:
-        description: 'Hardware target to compile for (qcom or chestnut)'
+        description: 'Hardware target to compile for (qcom or usbgpu)'
         required: false
         type: string
         default: 'qcom'
@@ -57,7 +57,7 @@ on:
         type: choice
         options:
           - qcom
-          - chestnut
+          - usbgpu
         default: 'qcom'
 
 
@@ -102,7 +102,7 @@ jobs:
           cat $GITHUB_OUTPUT
       - run: |
           cd ${{ github.workspace }}/openpilot/openpilot
-          if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
+          if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
             git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx"
             rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
           else
@@ -121,7 +121,7 @@ jobs:
           if-no-files-found: error
 
   build_model:
-    runs-on: [self-hosted, chestnut]
+    runs-on: [self-hosted, usbgpu]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -185,9 +185,9 @@ jobs:
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
 
           TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-          if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
-            echo "CHESTNUT build"
-            export CHESTNUT=1
+          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
+            echo "USBGPU build"
+            export USBGPU=1
             TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else

openpilot/cereal/custom.capnp

@@ -382,6 +382,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
   intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
+  fordLateralPath @5 :FordLateralPath;
 
   struct Param {
     key @0 :Text;
@@ -402,6 +403,14 @@ struct CarControlSP @0xa5cd762cd951a455 {
   }
 }
 
+struct FordLateralPath {
+  pathOffset @0 :Float32;     # c0 [m]
+  pathAngle @1 :Float32;      # c1 [rad]
+  curvature @2 :Float32;      # c2 [1/m]
+  curvatureRate @3 :Float32;  # c3 [1/m^2]
+  valid @4 :Bool;
+}
+
 struct BackupManagerSP @0xf98d843bfd7004a3 {
   backupStatus @0 :Status;
   restoreStatus @1 :Status;

openpilot/common/params_keys.h

@@ -130,8 +130,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"UsbGpuActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"UsbGpuLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
@@ -195,16 +195,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // Model Manager params
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
-    {"ModelManager_ActiveBundleUSBGPU", {PERSISTENT, JSON}}, //TODO-SP: kept for migration, remove on next sync?
-    {"ModelManager_ActiveBundleChestnut", {PERSISTENT, JSON}},
+    {"ModelManager_ActiveBundleUSBGPU", {PERSISTENT, JSON}},
     {"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadRef", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
     {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
     {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_LastSyncTime_Chestnut", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_LastSyncTime_USBGPU", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
     {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
-    {"ModelManager_ModelsCache_Chestnut", {PERSISTENT | BACKUP, JSON}},
+    {"ModelManager_ModelsCache_USBGPU", {PERSISTENT | BACKUP, JSON}},
 
     // Neural Network Lateral Control
     {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},

openpilot/selfdrive/assets/icons_mici/chestnut_orange.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:845c40ff0d37612e8f2f482a36845744b5ae91ce2fcfc8117990d7d278b59820
-size 13079

openpilot/selfdrive/assets/icons_mici/egpu_crossed.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a8c5fece2a1c7587feb41cbe04c6aee08e768ecd9b5d00da6af9832a4ccc842
+size 2034

openpilot/selfdrive/assets/icons_mici/egpu_gray.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7409c53d7c72681c24982fd83b56ce70f80797c9c0f936d9296a5c18557ac472
+size 7279

openpilot/selfdrive/assets/icons_mici/egpu_orange.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58bd6155433f623b1f75d134bd8ca4745d9aa71f6767eb807cdbcf7deb3089a1
+size 10876

openpilot/selfdrive/car/helpers.py

@@ -63,5 +63,6 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
     **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
   )
+  struct_dataclass.fordLateralPath = structs.FordLateralPath(**remove_deprecated(struct_dict.get('fordLateralPath', {})))
 
   return struct_dataclass

openpilot/selfdrive/controls/controlsd.py

@@ -13,6 +13,7 @@ from openpilot.common.swaglog import cloudlog
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
+from openpilot.selfdrive.controls.lib.ford_path import FordPath, FordPathController
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
@@ -52,6 +53,8 @@ class Controls(ControlsExt):
     self.steer_limited_by_safety = False
     self.curvature = 0.0
     self.desired_curvature = 0.0
+    self.ford_path_controller = FordPathController()
+    self.ford_path = FordPath()
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
@@ -155,6 +158,11 @@ class Controls(ControlsExt):
       actuators.curvature = float(lateral_output)
     else:
       actuators.steeringAngleDeg = float(lateral_output)
+    if self.CP.brand == "ford":
+      self.ford_path = self.ford_path_controller.update(model_v2 if self.sm.valid['modelV2'] else None,
+                                                        self.desired_curvature, v_ego=CS.vEgo, active=CC.latActive,
+                                                        current_curvature=self.curvature)
+      actuators.curvature = float(self.ford_path.curvature)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)

openpilot/selfdrive/controls/lib/ford_path.py

@@ -0,0 +1,166 @@
+from dataclasses import dataclass, fields
+import math
+
+import numpy as np
+
+
+DBC_OFFSET = (-5.12, 5.11)
+DBC_ANGLE = (-0.5, 0.5235)
+DBC_CURVATURE = (-0.02, 0.02)
+DBC_CURVATURE_RATE = (-0.001024, 0.001023)
+
+_PATH_OFFSET_DISTANCE = 7.0
+_PATH_MIN_LOOKAHEAD = 7.0
+_CURVATURE_RATE_HORIZONS = (3.5, 5.0, 7.0)
+_CENTERING_CURVATURE_BASEBAND = (0.003, 0.006)
+_TRACKING_ERROR_DEADZONE = 0.0005
+_TRACKING_ERROR_LIMIT = 0.012
+_PATH_RATES = (4.0, 1.0, math.inf, 0.002)
+
+
+@dataclass(frozen=True)
+class FordPath:
+  valid: bool = False
+  path_offset: float = 0.0
+  path_angle: float = 0.0
+  curvature: float = 0.0
+  curvature_rate: float = 0.0
+
+
+def _finite(value: float) -> float:
+  return float(value) if math.isfinite(value) else 0.0
+
+
+def _sample(distance: float, distances: list[float], values: list[float]) -> float:
+  return float(np.interp(distance, distances, values))
+
+
+def _model_path(model) -> tuple[list[float], list[float], list[float]] | None:
+  try:
+    x = [float(value) for value in model.position.x]
+    y = [float(value) for value in model.position.y]
+    heading = [float(value) for value in model.orientation.z]
+  except (AttributeError, TypeError, ValueError):
+    return None
+  if len(x) < 2 or len(x) != len(y) or len(x) != len(heading):
+    return None
+  if not all(math.isfinite(value) for values in (x, y, heading) for value in values):
+    return None
+
+  distance = [0.0]
+  for i in range(1, len(x)):
+    distance.append(distance[-1] + math.hypot(x[i] - x[i - 1], y[i] - y[i - 1]))
+  if distance[-1] <= 0.0:
+    return None
+
+  unwrapped_heading = [heading[0]]
+  for value in heading[1:]:
+    delta = (value - unwrapped_heading[-1] + math.pi) % (2.0 * math.pi) - math.pi
+    unwrapped_heading.append(unwrapped_heading[-1] + delta)
+  return distance, y, unwrapped_heading
+
+
+def _curvature_rate(path: tuple[list[float], list[float], list[float]]) -> float:
+  distance, _, heading = path
+  rates = []
+  for requested_horizon in _CURVATURE_RATE_HORIZONS:
+    horizon = min(requested_horizon, distance[-1])
+    start = _sample(0.0, distance, heading)
+    midpoint = _sample(0.5 * horizon, distance, heading)
+    end = _sample(horizon, distance, heading)
+    rates.append(4.0 * (start - 2.0 * midpoint + end) / horizon ** 2)
+
+  magnitude = sum(abs(rate) for rate in rates)
+  if magnitude == 0.0:
+    return 0.0
+  return sorted(rates)[1] * abs(sum(rates)) / magnitude
+
+
+def _curvature(path: tuple[list[float], list[float], list[float]]) -> float:
+  distance, _, heading = path
+  horizon = min(_PATH_MIN_LOOKAHEAD, distance[-1])
+  return (_sample(horizon, distance, heading) - _sample(0.0, distance, heading)) / horizon
+
+
+def _encode_path(model, desired_curvature: float, v_ego: float, current_curvature: float | None) -> FordPath:
+  path = _model_path(model)
+  if path is None:
+    return FordPath()
+
+  distance, offset, heading = path
+  lookahead = max(_finite(v_ego), _PATH_MIN_LOOKAHEAD)
+  path_offset = _sample(_PATH_OFFSET_DISTANCE, distance, offset)
+  path_angle = _sample(lookahead, distance, heading)
+  model_curvature = _curvature(path)
+  model_curvature_rate = _curvature_rate(path)
+  action_curvature = _finite(desired_curvature)
+  requested_curvature = max((model_curvature, action_curvature), key=abs)
+  maneuver_residual = requested_curvature - model_curvature
+  path_offset += 0.5 * maneuver_residual * _PATH_OFFSET_DISTANCE ** 2
+  path_angle += maneuver_residual * lookahead
+  correction = 0.0
+  tracking_demand = 0.0
+  wheel_beyond_target = False
+  if current_curvature is not None:
+    target_curvature = action_curvature
+    measured_curvature = _finite(current_curvature)
+    tracking_error = target_curvature - measured_curvature
+    correction = math.copysign(max(abs(tracking_error) - _TRACKING_ERROR_DEADZONE, 0.0), tracking_error)
+    tracking_demand = abs(correction)
+    wheel_beyond_target = target_curvature * measured_curvature > 0.0 and \
+      abs(target_curvature) + _TRACKING_ERROR_DEADZONE < abs(measured_curvature)
+    correction_limit = _TRACKING_ERROR_LIMIT
+    if correction * target_curvature < 0.0:
+      correction_limit = 0.5 * abs(target_curvature)
+    correction = float(np.clip(correction, -correction_limit, correction_limit))
+    correction_offset = 0.5 * correction * _PATH_OFFSET_DISTANCE ** 2
+    correction_angle = correction * lookahead
+    if wheel_beyond_target:
+      path_offset = correction_offset
+      path_angle = correction_angle
+    else:
+      path_offset += correction_offset
+      path_angle += correction_angle
+
+  spatial_demand = abs(model_curvature_rate) * lookahead / 3.0
+  overflow_demand = max(abs(requested_curvature) - DBC_CURVATURE[1], 0.0)
+  maneuver_demand = max(spatial_demand, overflow_demand, tracking_demand)
+  maneuver_share = 1.0 if wheel_beyond_target else \
+    float(np.interp(maneuver_demand, _CENTERING_CURVATURE_BASEBAND, (0.0, 1.0)))
+  path_offset *= maneuver_share
+  path_angle *= maneuver_share
+  centering_curvature = action_curvature
+
+  return FordPath(
+    valid=True,
+    path_offset=float(np.clip(path_offset, *DBC_OFFSET)),
+    path_angle=float(np.clip(path_angle, *DBC_ANGLE)),
+    curvature=float(np.clip(centering_curvature * (1.0 - maneuver_share), *DBC_CURVATURE)),
+    curvature_rate=float(np.clip(model_curvature_rate * maneuver_share, *DBC_CURVATURE_RATE)),
+  )
+
+
+class FordPathController:
+  """Convert the model path directly into one vehicle-independent Ford path command."""
+
+  def __init__(self, dt: float = 0.01):
+    self.dt = dt
+    self._last_path = FordPath(valid=True)
+
+  def _limit(self, target: FordPath) -> FordPath:
+    values = []
+    for field, rate in zip(fields(FordPath)[1:], _PATH_RATES, strict=True):
+      previous = getattr(self._last_path, field.name)
+      value = getattr(target, field.name)
+      values.append(float(np.clip(value, previous - rate * self.dt, previous + rate * self.dt)))
+    self._last_path = FordPath(True, *values)
+    return self._last_path
+
+  def update(self, model, desired_curvature: float, *, v_ego: float = 0.0, active: bool = True,
+             current_curvature: float | None = None) -> FordPath:
+    if not active:
+      self._last_path = FordPath(valid=True)
+      return FordPath()
+    if model is None:
+      return self._limit(FordPath(valid=True))
+    return self._limit(_encode_path(model, desired_curvature, v_ego, current_curvature))

openpilot/selfdrive/controls/tests/test_ford_path.py

@@ -0,0 +1,290 @@
+import math
+from types import SimpleNamespace
+
+import numpy as np
+
+from openpilot.cereal import custom
+from openpilot.selfdrive.car.helpers import convert_carControlSP
+from openpilot.selfdrive.controls.lib.ford_path import DBC_CURVATURE, FordPathController
+
+
+def _path(curvature: float, curvature_rate: float = 0.0, speed: float = 8.0):
+  t = np.linspace(0.0, 3.0, 61)
+  distance = speed * t
+  heading = curvature * distance + 0.5 * curvature_rate * distance ** 2
+  x = np.zeros_like(distance)
+  y = np.zeros_like(distance)
+  for i in range(1, len(distance)):
+    ds = distance[i] - distance[i - 1]
+    average_heading = 0.5 * (heading[i] + heading[i - 1])
+    x[i] = x[i - 1] + ds * math.cos(average_heading)
+    y[i] = y[i - 1] + ds * math.sin(average_heading)
+  return SimpleNamespace(
+    position=SimpleNamespace(t=t.tolist(), x=x.tolist(), y=y.tolist()),
+    orientation=SimpleNamespace(z=heading.tolist()),
+  )
+
+
+def _equivalent_curvature(path, distance: float = 7.0) -> float:
+  offset = path.path_offset + path.path_angle * distance + 0.5 * path.curvature * distance ** 2 + \
+    path.curvature_rate * distance ** 3 / 6.0
+  return 2.0 * offset / distance ** 2
+
+
+def _command(model, desired_curvature: float, *, v_ego: float = 0.0, current_curvature: float | None = None):
+  return FordPathController(dt=1.0).update(model, desired_curvature, v_ego=v_ego, current_curvature=current_curvature)
+
+
+def test_steady_arc_uses_c2_without_fast_pose_fields():
+  path = _command(_path(0.008), 0.008, v_ego=8.0)
+
+  assert path.valid
+  assert abs(path.path_offset) < 1e-9
+  assert abs(path.path_angle) < 1e-9
+  assert np.isclose(path.curvature, 0.008, atol=5e-5)
+  assert abs(path.curvature_rate) < 1e-5
+
+
+def test_sunnypilot_path_message_round_trip():
+  message = custom.CarControlSP.new_message()
+  message.fordLateralPath.pathOffset = 0.3
+  message.fordLateralPath.pathAngle = -0.2
+  message.fordLateralPath.curvature = 0.008
+  message.fordLateralPath.curvatureRate = -0.0004
+  message.fordLateralPath.valid = True
+
+  path = convert_carControlSP(message.as_reader()).fordLateralPath
+  assert np.isclose(path.pathOffset, 0.3)
+  assert np.isclose(path.pathAngle, -0.2)
+  assert np.isclose(path.curvature, 0.008)
+  assert np.isclose(path.curvatureRate, -0.0004)
+  assert path.valid
+
+
+def test_tight_arc_uses_signed_forward_pose_without_slow_c2():
+  left = _command(_path(0.04), 0.04, v_ego=8.0)
+  right = _command(_path(-0.04), -0.04, v_ego=8.0)
+
+  assert left.curvature == 0.0
+  assert right.curvature == 0.0
+  assert abs(left.curvature_rate) < 1e-4
+  assert abs(right.curvature_rate) < 1e-4
+  assert left.path_angle > 0.06
+  assert right.path_angle < -0.06
+  assert left.path_offset > 0.5
+  assert right.path_offset < -0.5
+
+
+def test_c2_does_not_increase_while_tight_curve_unwinds():
+  curvatures = (0.04, 0.018, 0.016, 0.014, 0.012, 0.010, 0.008, 0.006, 0.0)
+  measured = (0.04,) + curvatures[:-1]
+  commands = [_command(_path(curvature), curvature, v_ego=8.0, current_curvature=actual).curvature
+              for curvature, actual in zip(curvatures, measured, strict=True)]
+
+  assert np.all(np.diff(commands) <= 1e-9)
+
+
+def test_fresh_model_replaces_previous_path_without_hidden_state():
+  controller = FordPathController(dt=1.0)
+  initial = controller.update(_path(0.04), 0.04, v_ego=8.0)
+  replanned = controller.update(_path(0.0), 0.0, v_ego=8.0)
+
+  assert initial.path_offset > 0.5
+  assert replanned == FordPathController().update(_path(0.0), 0.0, v_ego=8.0)
+
+
+def test_s_turn_reverses_fast_fields_while_c2_is_bounded():
+  controller = FordPathController(dt=0.05)
+  controller.update(_path(0.04), 0.04, v_ego=8.0)
+  controller.update(_path(0.04), 0.04, v_ego=8.0)
+
+  outputs = []
+  for frame_id in range(5):
+    model = _path(-0.02)
+    model.frameId = frame_id + 1
+    model.timestampEof = frame_id + 1
+    outputs.append(controller.update(model, -0.02, v_ego=8.0, current_curvature=0.02))
+
+  assert all(path.valid for path in outputs)
+  assert all(DBC_CURVATURE[0] <= path.curvature <= DBC_CURVATURE[1] for path in outputs)
+  assert all(path.curvature <= 0.0 for path in outputs)
+  assert outputs[-1].path_angle < -0.03
+  assert outputs[-1].path_offset < 0.0
+
+
+def test_reversal_does_not_add_software_persistence_to_centering_c2():
+  controller = FordPathController()
+  assert controller.update(_path(0.002), 0.002, v_ego=8.0).curvature > 0.0
+
+  reversing = controller.update(_path(-0.02), -0.02, v_ego=8.0)
+
+  assert reversing.curvature <= 0.0
+
+
+def test_requested_turn_is_not_cancelled_by_previous_path():
+  controller = FordPathController(dt=1.0)
+  previous = _path(-0.02, speed=3.0)
+  previous.frameId = 1
+  previous.timestampEof = 1
+  controller.update(previous, -0.02, v_ego=3.0, current_curvature=-0.01)
+
+  requested = _path(0.02, speed=3.0)
+  requested.frameId = 2
+  requested.timestampEof = 2
+  command = controller.update(requested, 0.02, v_ego=3.0, current_curvature=0.007)
+
+  assert command.path_offset >= 0.0
+  assert command.path_angle >= 0.0
+  assert command.curvature >= 0.0
+  assert _equivalent_curvature(command) >= 0.02
+
+
+def test_short_low_speed_model_uses_available_path_endpoint():
+  command = FordPathController().update(_path(0.02, speed=1.0), 0.02, v_ego=1.0, current_curvature=0.0)
+
+  assert command.valid
+  assert command.path_offset > 0.0
+  assert command.path_angle > 0.0
+
+
+def test_action_demand_exposes_forward_path_authority():
+  command = FordPathController().update(_path(0.002), 0.0055, v_ego=8.0, current_curvature=0.0005)
+
+  assert _equivalent_curvature(command) >= 0.004
+
+
+def test_minor_curve_uses_c2_when_tracking_is_close():
+  command = FordPathController(dt=1.0).update(_path(0.005), 0.005, v_ego=8.0, current_curvature=0.0048)
+
+  assert abs(command.path_offset) < 1e-9
+  assert abs(command.path_angle) < 1e-9
+  assert command.curvature > 0.0049
+
+
+def test_minor_changing_curve_does_not_emit_ungated_c3():
+  command = FordPathController(dt=1.0).update(_path(0.005, 0.0003), 0.005, v_ego=8.0, current_curvature=0.0048)
+
+  assert abs(command.path_offset) < 1e-9
+  assert abs(command.path_angle) < 1e-9
+  assert command.curvature > 0.0049
+  assert command.curvature_rate == 0.0
+
+
+def test_c2_uses_stable_action_curvature_not_independent_model_fit():
+  controller = FordPathController(dt=1.0)
+  first = controller.update(_path(0.004), 0.002, v_ego=8.0, current_curvature=0.002)
+  second = controller.update(_path(0.006), 0.002, v_ego=8.0, current_curvature=0.002)
+
+  assert np.isclose(first.curvature, 0.002)
+  assert np.isclose(second.curvature, 0.002)
+
+
+def test_action_curvature_corrects_stale_opposing_model_at_low_speed():
+  command = FordPathController().update(_path(-0.001, speed=1.0), 0.005, v_ego=1.0, current_curvature=0.001)
+
+  assert command.path_offset > 0.0
+  assert command.path_angle > 0.0
+  assert command.curvature >= 0.0
+  assert _equivalent_curvature(command) >= 0.004
+
+
+def test_small_action_sign_noise_does_not_reverse_a_strong_model_path():
+  command = FordPathController(dt=1.0).update(_path(0.04), -0.0005, v_ego=6.0, current_curvature=0.02)
+
+  assert command.path_offset > 0.0
+  assert command.path_angle > 0.0
+  assert _equivalent_curvature(command) > 0.02
+
+
+def test_measured_curvature_after_path_exit_commands_countersteer():
+  command = FordPathController().update(_path(0.0), 0.0, v_ego=8.0, current_curvature=0.006)
+
+  assert command.curvature == 0.0
+  assert command.path_offset < 0.0
+  assert command.path_angle < 0.0
+
+
+def test_measured_curvature_countersteers_when_beyond_modeled_arc():
+  controller = FordPathController(dt=1.0)
+  command = controller.update(_path(0.004), 0.003, v_ego=8.0, current_curvature=0.012)
+  tracking = FordPathController(dt=1.0).update(_path(0.004), 0.003, v_ego=8.0, current_curvature=0.004)
+
+  assert command.path_offset < 0.0
+  assert command.path_angle < 0.0
+  assert command.path_angle < tracking.path_angle
+  assert command.curvature == 0.0
+
+
+def test_model_reversal_suppresses_old_c2_and_countersteers():
+  reversing = FordPathController().update(_path(-0.02), -0.0005, v_ego=8.0, current_curvature=0.01)
+
+  assert reversing.curvature <= 0.0
+  assert reversing.path_angle < 0.0
+
+
+def test_reversal_noise_band_is_continuous():
+  inside = FordPathController(dt=1.0).update(_path(0.02), -0.000099, v_ego=8.0, current_curvature=0.01)
+  outside = FordPathController(dt=1.0).update(_path(0.02), -0.000101, v_ego=8.0, current_curvature=0.01)
+
+  assert abs(outside.path_angle - inside.path_angle) < 0.005
+
+
+def test_curvature_error_increases_forward_pose_command_while_behind():
+  behind = FordPathController(dt=1.0).update(_path(0.008), 0.008, v_ego=15.0, current_curvature=0.0)
+  tracking = FordPathController(dt=1.0).update(_path(0.008), 0.008, v_ego=15.0, current_curvature=0.008)
+
+  assert behind.path_offset > tracking.path_offset + 0.01
+  assert behind.path_angle > tracking.path_angle + 0.015
+  assert behind.curvature == 0.0
+  assert tracking.curvature > 0.007
+  assert np.isclose(behind.curvature_rate, tracking.curvature_rate)
+
+
+def test_measured_wheel_beyond_action_countersteers_model_arc():
+  controller = FordPathController()
+  controller.update(_path(0.02), 0.02, v_ego=15.0, current_curvature=0.02)
+  outputs = [controller.update(_path(0.02), 0.003, v_ego=15.0, current_curvature=0.01) for _ in range(4)]
+  unwinding = outputs[-1]
+
+  assert unwinding.curvature == 0.0
+  assert unwinding.path_angle < 0.0
+
+
+def test_action_c2_remains_active_for_centering():
+  centering = FordPathController(dt=1.0).update(_path(0.002), 0.002, v_ego=15.0, current_curvature=0.002)
+
+  assert centering.curvature > 0.001
+  assert abs(centering.path_offset) < 1e-9
+  assert abs(centering.path_angle) < 1e-9
+
+
+def test_tight_turn_from_stop_builds_bounded_forward_pose_authority():
+  controller = FordPathController()
+  outputs = [controller.update(_path(0.04), 0.04, v_ego=0.0, current_curvature=0.0) for _ in range(20)]
+  path = outputs[-1]
+
+  assert path.curvature == 0.0
+  assert path.path_offset > 0.7
+  assert path.path_angle > 0.15
+  assert np.max(np.abs(np.diff([output.path_offset for output in outputs]))) <= 0.04 + 1e-9
+  assert np.max(np.abs(np.diff([output.path_angle for output in outputs]))) <= 0.01 + 1e-9
+
+
+def test_curvature_feedback_is_bounded_for_bad_measurement():
+  bounded = FordPathController().update(_path(0.008), 0.008, v_ego=15.0, current_curvature=-0.02)
+  corrupted = FordPathController().update(_path(0.008), 0.008, v_ego=15.0, current_curvature=-1.0)
+
+  assert np.isclose(corrupted.path_angle, bounded.path_angle)
+
+
+def test_invalid_model_ramps_pose_to_zero_while_remaining_in_extended_mode():
+  controller = FordPathController()
+  for _ in range(10):
+    active = controller.update(_path(0.04), 0.04, v_ego=12.0)
+  missing = controller.update(None, 0.0, v_ego=12.0)
+
+  assert active.path_offset > 0.0
+  assert missing.valid
+  assert np.isclose(active.path_offset - missing.path_offset, 0.04)
+  assert missing.curvature == 0.0
+  assert not controller.update(_path(0.0), 0.0, v_ego=12.0, active=False).valid

openpilot/selfdrive/modeld/SConscript

@@ -7,7 +7,7 @@ from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_exi
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, chestnut_present, modeld_pkl_path
+from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
 
 
 CAMERA_CONFIGS = [
@@ -36,18 +36,18 @@ else:
 tg_devices = { # which device to put jit inputs to at runtime
   'openpilot.selfdrive.modeld.modeld': {
     'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
-    'chestnut': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
+    'usbgpu': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
   },
   'openpilot.selfdrive.modeld.dmonitoringmodeld': {
     'default': {'DEV': tg_backend}
   },
 }
 
-CHESTNUT = chestnut_present()
-if CHESTNUT:
-  chestnut_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2'
+USBGPU = usbgpu_present()
+if USBGPU:
+  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2'
   # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
-  chestnut_lock = File("models/.chestnut.lock").abspath
+  usbgpu_lock = File("models/.usb_gpu.lock").abspath
 
 def write_tg_devices(target, source, env):
   with open(str(target[0]), "w") as f:
@@ -74,10 +74,10 @@ model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 
 if not os.getenv('SKIP_TINYGRAD_COMPILE'):
-  for chestnut in [False, True] if CHESTNUT else [False]:
-    target_pkl_path = File(modeld_pkl_path(chestnut)).abspath
-    # BIG_INTO_SMALL=1 builds the default target from the big model, e.g. to test it without a chestnut
-    file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
+  for usbgpu in [False, True] if USBGPU else [False]:
+    target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
+    # BIG_INTO_SMALL=1 builds the default target from the big model, e.g. to test it without a USB GPU
+    file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
     driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
     camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
     # CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
@@ -104,14 +104,14 @@ if not os.getenv('SKIP_TINYGRAD_COMPILE'):
       chunk_file(pkl, chunks)
     def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
       chunk_file(pkl, chunks)
-    actions = Action(do_compile, "  [CHESTNUT] $TARGET") if chestnut else [cmd, Action(do_chunk, "  [CHUNK] $TARGET")]
+    actions = Action(do_compile, "  [USBGPU] $TARGET") if usbgpu else [cmd, Action(do_chunk, "  [CHUNK] $TARGET")]
     node = lenv.Command(
       chunk_targets,
       tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
       actions,
     )
-    if chestnut:
-      lenv.SideEffect(chestnut_lock, node)
+    if usbgpu:
+      lenv.SideEffect(usbgpu_lock, node)
 
 # get model metadata
 fn = File(f"models/dmonitoring_model").abspath

openpilot/selfdrive/modeld/dmonitoringmodeld.py

@@ -29,7 +29,7 @@ class ModelState:
   output: np.ndarray
 
   def __init__(self, cam_w: int, cam_h: int):
-    self.DEV = get_tg_input_devices(PROCESS_NAME, chestnut=False)['DEV']
+    self.DEV = get_tg_input_devices(PROCESS_NAME, usbgpu=False)['DEV']
     with open(METADATA_PATH, 'rb') as f:
       model_metadata = pickle.load(f)
       self.input_shapes = model_metadata['input_shapes']

openpilot/selfdrive/modeld/helpers.py

@@ -13,12 +13,12 @@ MODELS_DIR = Path(__file__).resolve().parent / 'models'
 TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
 
 
-def get_tg_input_devices(process_name: str, chestnut: bool):
+def get_tg_input_devices(process_name: str, usbgpu: bool):
   with open(TG_INPUT_DEVICES_PATH) as f:
-    return json.load(f)[process_name]['default' if not chestnut else 'chestnut']
+    return json.load(f)[process_name]['default' if not usbgpu else 'usbgpu']
 
-def modeld_pkl_path(chestnut: bool):
-  prefix = 'big_' if chestnut else ''
+def modeld_pkl_path(usbgpu: bool):
+  prefix = 'big_' if usbgpu else ''
   return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
 
 def dump_oob(obj, f):
@@ -45,7 +45,7 @@ def load_oob(f):
       yield pb
   return pickle.load(io.BytesIO(opcodes), buffers=buffers())
 
-def chestnut_present() -> bool:
+def usbgpu_present() -> bool:
   for d in USB_DEVICES_PATH.glob("*"):
     try:
       usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
@@ -56,5 +56,5 @@ def chestnut_present() -> bool:
       pass
   return False
 
-def chestnut_compiled() -> bool:
-  return Path(get_manifest_path(modeld_pkl_path(chestnut=True))).is_file()
+def usbgpu_compiled() -> bool:
+  return Path(get_manifest_path(modeld_pkl_path(usbgpu=True))).is_file()

openpilot/selfdrive/modeld/modeld.py

@@ -1,9 +1,7 @@
 #!/usr/bin/env python3
-from collections.abc import Callable
-import ctypes
 from functools import cached_property
 import os
-os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
+os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
 from tinygrad.tensor import Tensor
 from tinygrad.device import Device
 import struct
@@ -32,7 +30,7 @@ from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_IN
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
 from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, usbgpu_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
@@ -96,10 +94,8 @@ class ChestnutState:
     if self.big and "AMD" in Device._opened_devices and self.sends % 100 == 1:
       try:
         smu = Device["AMD"].iface.dev_impl.smu
-        metrics_t = smu.smu_mod.SmuMetricsExternal_t
         smu._send_msg(smu.smu_mod.PPSMC_MSG_TransferTableSmu2Dram, smu.smu_mod.TABLE_SMU_METRICS, timeout=100)
-        metrics_buf = bytearray(smu.adev.vram.view(smu.driver_table_paddr, ctypes.sizeof(metrics_t))[:])
-        metrics = metrics_t.from_buffer(metrics_buf).SmuMetrics
+        metrics = smu.read_table(smu.smu_mod.SmuMetricsExternal_t, smu.smu_mod.TABLE_SMU_METRICS).SmuMetrics
         self.metrics = {'tempC': metrics.AvgTemperature[smu.smu_mod.TEMP_HOTSPOT],
                         'memoryTempC': metrics.AvgTemperature[smu.smu_mod.TEMP_MEM],
                         'powerDrawW': metrics.AverageSocketPower,
@@ -145,18 +141,18 @@ class FrameMeta:
 class ModelState(ModelStateBase):
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
-  def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
+  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
     ModelStateBase.__init__(self)
-    input_devices = get_tg_input_devices(PROCESS_NAME, chestnut)
+    input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
     self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
-    jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)))
+    jits = load_oob(open_file_chunked(modeld_pkl_path(usbgpu)))
     metadata = jits['metadata']
     self.input_shapes = metadata['input_shapes']
     self.vision_input_names = [k for k in self.input_shapes if 'img' in k]
     self.output_slices = metadata['output_slices']
 
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    self.chestnut = chestnut
+    self.usbgpu = usbgpu
 
     self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
     self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
@@ -172,7 +168,7 @@ class ModelState(ModelStateBase):
     return parsed_model_outputs
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-          inputs: dict[str, np.ndarray], after_enqueue: Callable[[], None] | None = None) -> dict[str, np.ndarray]:
+          inputs: dict[str, np.ndarray]) -> dict[str, np.ndarray] | None:
     for key in bufs.keys():
       ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
@@ -196,11 +192,11 @@ class ModelState(ModelStateBase):
     outs, = self.run_policy(
       **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped
     )
-    if after_enqueue is not None:
-      after_enqueue()
     model_output = outs.numpy()[0]
-    if self.chestnut and not np.all(np.isfinite(model_output)):
-      raise RuntimeError("model output not finite")
+    if self.usbgpu and not np.all(np.isfinite(model_output)):
+      # TODO remove with prev_feat
+      cloudlog.error("model output not finite, dropping frame")
+      return None
     outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))
     self.npy['prev_feat'][:] = model_output[self.output_slices['hidden_state']]
 
@@ -222,12 +218,12 @@ class ModelState(ModelStateBase):
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  CHESTNUT = chestnut_present() and chestnut_compiled()
-  if CHESTNUT:
+  USBGPU = usbgpu_present() and usbgpu_compiled()
+  if USBGPU:
     os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
   params = Params()
-  params.put_bool("ChestnutLoading", CHESTNUT)
-  params.remove("ChestnutActive")
+  params.put_bool("UsbGpuLoading", USBGPU)
+  params.remove("UsbGpuActive")
 
   config_realtime_process(7, 54)
 
@@ -257,7 +253,7 @@ def main(demo=False):
   st = time.monotonic()
   cloudlog.warning("loading model")
   model = None
-  if CHESTNUT:
+  if USBGPU:
     big_model = None
     def load_big():
       nonlocal big_model
@@ -271,23 +267,23 @@ def main(demo=False):
     loader.start()
     loader.join(BIG_MODEL_TIMEOUT)
     model = big_model
-    params.put_bool("ChestnutActive", model is not None)
+    params.put_bool("UsbGpuActive", model is not None)
 
-  small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
+  small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or USBGPU else None
   if model is None:
     model = small_model
-  params.put_bool("ChestnutLoading", False)
+  params.put_bool("UsbGpuLoading", False)
   assert model is not None
   cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # messaging
-  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if CHESTNUT else [])
+  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
   pm = PubMaster(pub_socks)
   sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
 
   publish_state = PublishState()
   params = Params()
-  chestnut_state = ChestnutState(pm, model.chestnut) if CHESTNUT else None
+  chestnut_state = ChestnutState(pm, model.usbgpu) if USBGPU else None
 
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
@@ -397,15 +393,13 @@ def main(demo=False):
 
     mt1 = time.perf_counter()
     try:
-      send_chestnut = (chestnut_state is not None and
-                       run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0)
-      model_output = model.run(bufs, transforms, inputs, chestnut_state.send if send_chestnut else None)
+      model_output = model.run(bufs, transforms, inputs)
     except Exception:
-      if not params.get_bool("ChestnutActive"):
+      if not params.get_bool("UsbGpuActive"):
         raise
       # fallback to small model
       cloudlog.exception("big model failed, fall back to small")
-      params.put_bool("ChestnutActive", False)
+      params.put_bool("UsbGpuActive", False)
       assert small_model is not None
       model = small_model
       if chestnut_state is not None:
@@ -425,7 +419,7 @@ def main(demo=False):
       fill_model_msg(modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, extrinsics_calibration_seen)
-      modelv2_send.modelV2.big = model.chestnut
+      modelv2_send.modelV2.big = model.usbgpu
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -447,6 +441,10 @@ def main(demo=False):
       pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
+    if chestnut_state is not None and run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
+      chestnut_state.send()
+
+
 if __name__ == "__main__":
   try:
     import argparse

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -195,17 +195,17 @@ class SelfdriveD(CruiseHelper):
       self.events.add(EventName.joystickDebug)
       self.startup_event = None
 
-    loading = self.params.get_bool("ChestnutLoading")
+    loading = self.params.get_bool("UsbGpuLoading")
     if self.big_model_loading and not loading:
       self.big_model_ready_t = time.monotonic()
     self.big_model_loading = loading
     if self.big_model_loading:
       self.events.add(EventName.bigModelLoading)
 
-    big_active = self.params.get("ChestnutActive")
-    chestnut_present = self.sm['deviceState'].chestnutPresent
+    big_active = self.params.get("UsbGpuActive")
+    usbgpu_present = self.sm['deviceState'].chestnutPresent
     model_unavailable = big_active is True and self.sm.seen['modelV2'] and not self.sm.alive['modelV2']
-    big_failed = big_active is False or model_unavailable or (self.big_model_active and not chestnut_present)
+    big_failed = big_active is False or model_unavailable or (self.big_model_active and not usbgpu_present)
     if big_failed and not self.big_model_failed:
       self.events.add(EventName.bigModelFailed)
     self.big_model_failed = big_failed

openpilot/selfdrive/ui/mici/layouts/home.py

@@ -9,7 +9,7 @@ from openpilot.system.ui.widgets.layouts import HBoxLayout
 from openpilot.system.ui.widgets.icon_widget import IconWidget
 from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
-from openpilot.selfdrive.ui.ui_state import ui_state, ChestnutState
+from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.version import RELEASE_BRANCHES
 
 HEAD_BUTTON_FONT_SIZE = 40
@@ -139,8 +139,8 @@ class MiciHomeLayout(Widget):
     self._version_text = self._get_version_text()
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
-    self._chestnut_icon = IconWidget("icons_mici/chestnut_green.png", (68, 40))
-    self._chestnut_failed_icon = IconWidget("icons_mici/chestnut_orange.png", (68, 40))
+    self._egpu_icon = IconWidget("icons_mici/egpu_green.png", (50, 37))
+    self._egpu_icon_gray = IconWidget("icons_mici/egpu_gray.png", (50, 37))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
     self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
 
@@ -150,8 +150,8 @@ class MiciHomeLayout(Widget):
       IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
       NetworkIcon(),
       self._experimental_icon,
-      self._chestnut_icon,
-      self._chestnut_failed_icon,
+      self._egpu_icon,
+      self._egpu_icon_gray,
       self._body_icon,
       self._mic_icon,
     ], spacing=18)
@@ -249,10 +249,10 @@ class MiciHomeLayout(Widget):
     # ***** Center-aligned bottom section icons *****
     self._experimental_icon.set_visible(ui_state.experimental_mode)
     if gui_app.sunnypilot_ui():
-      self._set_chestnut_visibility()
+      self._set_egpu_visibility()
     else:
-      self._chestnut_icon.set_visible(ui_state.chestnut_state in (ChestnutState.READY, ChestnutState.LOADING, ChestnutState.ACTIVE))
-      self._chestnut_failed_icon.set_visible(ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED))
+      self._egpu_icon.set_visible(ui_state.sm["deviceState"].chestnutPresent and ui_state.usbgpu_compiled)
+      self._egpu_icon_gray.set_visible(ui_state.sm["deviceState"].chestnutPresent and not ui_state.usbgpu_compiled)
     self._mic_icon.set_visible(ui_state.recording_audio)
     self._body_icon.set_visible(bool(ui_state.is_body))
 

openpilot/selfdrive/ui/mici/onroad/hud_renderer.py

@@ -3,7 +3,7 @@ import pyray as rl
 from dataclasses import dataclass
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
-from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, ChestnutState
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -107,7 +107,8 @@ class HudRenderer(Widget):
     self.speed: float = 0.0
     self.v_ego_cluster_seen: bool = False
     self._engaged: bool = False
-    self._chestnut_fade_time: float = 0
+    self._small_model_engaged: bool = False
+    self._egpu_fade_time: float = 0
 
     self._can_draw_top_icons = True
     self._show_wheel_critical = False
@@ -123,15 +124,17 @@ class HudRenderer(Widget):
     self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
     self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
     self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 9, 44)
-    self._txt_chestnut: rl.Texture = gui_app.texture('icons_mici/chestnut.png', 60, 44)
-    self._txt_chestnut_green: rl.Texture = gui_app.texture('icons_mici/chestnut_green.png', 60, 44)
-    self._txt_chestnut_orange: rl.Texture = gui_app.texture('icons_mici/chestnut_orange.png', 75, 44)
-    self._chestnut_icon: rl.Texture | None = None
+    self._txt_egpu: rl.Texture = gui_app.texture('icons_mici/egpu.png', 60, 44)
+    self._txt_egpu_green: rl.Texture = gui_app.texture('icons_mici/egpu_green.png', 60, 44)
+    self._txt_egpu_orange: rl.Texture = gui_app.texture('icons_mici/egpu_orange.png', 60, 44)
+    self._txt_egpu_crossed: rl.Texture = gui_app.texture('icons_mici/egpu_crossed.png', 60, 52)
+    self._egpu_icon: rl.Texture | None = None
+
     self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
     self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
 
     self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
-    self._chestnut_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._egpu_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
   def set_wheel_critical_icon(self, critical: bool):
     """Set the wheel icon to critical or normal state."""
@@ -162,10 +165,13 @@ class HudRenderer(Widget):
       controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     engaged = sm['selfdriveState'].enabled
+    if (engaged and not self._engaged and not ui_state.usbgpu_loading and ui_state.usbgpu_active is not True and
+        ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame):
+      self._small_model_engaged = True
+    if engaged != self._engaged:
+      self._egpu_fade_time = rl.get_time() if engaged else 0
     if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
       self._set_speed_changed_time = rl.get_time()
-    if engaged != self._engaged:
-      self._chestnut_fade_time = rl.get_time() if engaged else 0
     self._engaged = engaged
     self.set_speed = set_speed
     self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
@@ -185,7 +191,8 @@ class HudRenderer(Widget):
     if self.is_cruise_set:
       self._draw_set_speed(rect)
 
-    self._draw_model_source(rect)
+    if ui_state.usbgpu and ui_state.usbgpu_compiled:
+      self._draw_model_source(rect)
 
     self._draw_steering_wheel(rect)
 
@@ -193,24 +200,30 @@ class HudRenderer(Widget):
     if ui_state.sm.recv_frame['selfdriveState'] < ui_state.started_frame:
       return
 
-    loading = ui_state.chestnut_state == ChestnutState.LOADING
+    big_failed = (ui_state.usbgpu_active is False or not ui_state.sm['deviceState'].chestnutPresent or
+                  (ui_state.usbgpu_active is True and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame and
+                   not ui_state.sm.alive['modelV2']) or
+                  (ui_state.usbgpu_active is None and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame))
+    self._small_model_engaged &= big_failed
+    loading = ui_state.usbgpu_loading or (ui_state.usbgpu_active is None and not big_failed)
     if loading:
-      icon = self._txt_chestnut
-      opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
-    elif ui_state.chestnut_state in (ChestnutState.UNCOMPILED, ChestnutState.FAILED):
-      icon = self._txt_chestnut_orange
-      opacity = 1.0
-    elif ui_state.chestnut_state == ChestnutState.ACTIVE:
-      icon = self._txt_chestnut_green
+      pulse = 0.5 - 0.5 * math.cos(rl.get_time() * 6.0)
+      icon = self._txt_egpu
+      opacity = 0.35 + 0.65 * pulse
+    elif self._small_model_engaged:
+      icon = self._txt_egpu_crossed
+      opacity = 0.65
+    elif big_failed:
+      icon = self._txt_egpu_orange
       opacity = 1.0
     else:
-      return
+      icon = self._txt_egpu_green
+      opacity = 1.0
 
-    if icon is not self._chestnut_icon:
-      self._chestnut_fade_time = rl.get_time()
-      self._chestnut_icon = icon
-    visible = loading or rl.get_time() - self._chestnut_fade_time < SET_SPEED_PERSISTENCE
-    alpha = self._chestnut_alpha_filter.update(visible)
+    if icon is not self._egpu_icon:
+      self._egpu_fade_time = rl.get_time()
+      self._egpu_icon = icon
+    alpha = self._egpu_alpha_filter.update(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE)
     if alpha < 1e-2:
       return
 

openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py

@@ -62,14 +62,14 @@ class ModelsLayout(Widget):
     self.big_model_item = ListItemSP(
       title=tr("Big Model"),
       action_item=ScrollingButtonAction(tr("SELECT")),
-      callback=lambda: self._open_source_dialog("chestnut")
+      callback=lambda: self._open_source_dialog("usbgpu")
     )
 
     self.download_item = download_status_item(lambda: tr("Download") if self._downloading else tr("Model Status"))
 
     self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
                                     lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
-                                             ui_state.params.put("ModelManager_LastSyncTime_Chestnut", 0),
+                                             ui_state.params.put("ModelManager_LastSyncTime_USBGPU", 0),
                                              gui_app.push_widget(alert_dialog(tr("Fetching Latest Models")))))
 
     self.clear_cache_item = ListItemSP(
@@ -177,14 +177,14 @@ class ModelsLayout(Widget):
     big_state = big_model_state()
     carry_source, carry_internal, _ = carrying_model()
     segments = []
-    for source, label in (("qcom", tr("small")), ("chestnut", tr("big"))):
+    for source, label in (("qcom", tr("small")), ("usbgpu", tr("big"))):
       if segments:
         segments.append(("|", rl.GRAY, None, None))
       bundle = get_selected_bundle(ui_state.params, source)
       name = bundle.internalName if bundle else default_model_name(source)
       color = ON_COLOR if (source == carry_source and name == carry_internal) else rl.LIGHTGRAY
       name = "● " + name
-      if source == "chestnut":
+      if source == "usbgpu":
         if big_state == 'failed':
           color = rl.RED
         elif big_state == 'loading':
@@ -208,10 +208,10 @@ class ModelsLayout(Widget):
     """The failover story for the Model Status row. One-way big -> small, and the
     fallback is runner-matched: a Default big can only fall back to the Default
     small (stock modeld), a custom big has no automatic fallback yet."""
-    if not ui_state.chestnut_present:
+    if not ui_state.usbgpu:
       return ""
-    big_bundle = get_selected_bundle(ui_state.params, "chestnut")
-    big_name = big_bundle.internalName if big_bundle else default_model_name("chestnut")
+    big_bundle = get_selected_bundle(ui_state.params, "usbgpu")
+    big_name = big_bundle.internalName if big_bundle else default_model_name("usbgpu")
     big_is_default = big_bundle is None
     fallback_name = default_model_name("qcom")
     state = big_model_state()
@@ -225,7 +225,7 @@ class ModelsLayout(Widget):
       return tr("Getting the big model ready.")
     if big_is_default:
       return tr("{} will drive. If it fails during a drive, {} takes over until the next drive.").format(big_name, fallback_name)
-    return tr("{} will drive when the chestnut is ready.").format(big_name)
+    return tr("{} will drive when the eGPU is ready.").format(big_name)
 
   @staticmethod
   def _download_row_state(progresses, name: str) -> dict:
@@ -261,7 +261,7 @@ class ModelsLayout(Widget):
       ui_state.params.put("ModelManager_DownloadRef", selected_bundle.ref)
 
   def _resolve_selected_bundle(self, ref):
-    source_bundles = {source: bundles_for_source(source) for source in ("qcom", "chestnut")}
+    source_bundles = {source: bundles_for_source(source) for source in ("qcom", "usbgpu")}
     resolved = resolve_bundle_by_ref(ref, source_bundles)
     return resolved[0] if resolved else None
 
@@ -329,7 +329,7 @@ class ModelsLayout(Widget):
     self._handle_bundle_download_progress()
 
     carry_source, _, carry_display = carrying_model()
-    for item, item_source in ((self.small_model_item, "qcom"), (self.big_model_item, "chestnut")):
+    for item, item_source in ((self.small_model_item, "qcom"), (self.big_model_item, "usbgpu")):
       bundle = get_selected_bundle(ui_state.params, item_source)
       name = bundle.displayName if bundle else default_model_name(item_source)
       color = ON_COLOR if (item_source == carry_source and name == carry_display) else style.ITEM_TEXT_VALUE_COLOR

openpilot/selfdrive/ui/sunnypilot/layouts/sidebar.py

@@ -21,8 +21,8 @@ METRIC_MARGIN = 30
 METRIC_START_Y = 300
 HOME_BTN = rl.Rectangle(60, 860, 180, 180)
 
-CHESTNUT_ICON_WIDTH = 180
-CHESTNUT_ICON_HEIGHT = 133
+EGPU_ICON_WIDTH = 180
+EGPU_ICON_HEIGHT = 133
 
 
 # Color scheme
@@ -59,11 +59,10 @@ class MetricData:
 class SidebarSP:
   def __init__(self):
     self._sunnylink_status = MetricData(tr_noop("SUNNYLINK"), tr_noop("OFFLINE"), Colors.WARNING)
-    self._chestnut_green_img = gui_app.texture("icons_mici/chestnut_green.png", CHESTNUT_ICON_WIDTH, CHESTNUT_ICON_HEIGHT)
-    self._chestnut_default_img = gui_app.texture("icons_mici/chestnut.png", CHESTNUT_ICON_WIDTH, CHESTNUT_ICON_HEIGHT)
-    self._chestnut_orange_img = gui_app.texture("icons_mici/chestnut_orange.png", CHESTNUT_ICON_WIDTH, CHESTNUT_ICON_HEIGHT)
-    # gray state uses the default art (chestnut_gray.png removed upstream)
-    self._chestnut_gray_img = gui_app.texture("icons_mici/chestnut.png", CHESTNUT_ICON_WIDTH, CHESTNUT_ICON_HEIGHT)
+    self._egpu_green_img = gui_app.texture("icons_mici/egpu_green.png", EGPU_ICON_WIDTH, EGPU_ICON_HEIGHT)
+    self._egpu_default_img = gui_app.texture("icons_mici/egpu.png", EGPU_ICON_WIDTH, EGPU_ICON_HEIGHT)
+    self._egpu_orange_img = gui_app.texture("icons_mici/egpu_orange.png", EGPU_ICON_WIDTH, EGPU_ICON_HEIGHT)
+    self._egpu_gray_img = gui_app.texture("icons_mici/egpu_gray.png", EGPU_ICON_WIDTH, EGPU_ICON_HEIGHT)
 
   def _update_sunnylink_status(self):
     if not ui_state.params.get_bool("SunnylinkEnabled"):
@@ -94,19 +93,19 @@ class SidebarSP:
     if not ui_state.sm["deviceState"].chestnutPresent:
       return default_img, default_pos, 1.0
 
-    big_model_selected = ui_state.chestnut_compiled or ui_state.model_runner_tinygrad
+    big_model_selected = ui_state.usbgpu_compiled or ui_state.model_runner_tinygrad
     big_model_failed = ui_state.started and ui_state.big_model_failed
-    loading = ui_state.chestnut_loading or (big_model_selected and ui_state.started and ui_state.chestnut_active is None)
+    loading = ui_state.usbgpu_loading or (big_model_selected and ui_state.started and ui_state.usbgpu_active is None)
 
     if loading:
-      icon = self._chestnut_default_img
+      icon = self._egpu_default_img
       opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
     elif big_model_selected and big_model_failed:
-      icon, opacity = self._chestnut_orange_img, 1.0
+      icon, opacity = self._egpu_orange_img, 1.0
     elif big_model_selected:
-      icon, opacity = self._chestnut_green_img, 1.0
+      icon, opacity = self._egpu_green_img, 1.0
     else:
-      icon, opacity = self._chestnut_gray_img, 1.0
+      icon, opacity = self._egpu_gray_img, 1.0
 
     x = HOME_BTN.x + (HOME_BTN.width - icon.width) / 2
     y = HOME_BTN.y + (HOME_BTN.height - icon.height) / 2

openpilot/selfdrive/ui/sunnypilot/mici/layouts/home.py

@@ -19,30 +19,35 @@ class MiciHomeLayoutSP(MiciHomeLayout):
   def __init__(self):
     super().__init__()
     self._openpilot_label = UnifiedLabel("sunnypilot", font_size=88, font_weight=FontWeight.AUDIOWIDE, max_width=480, wrap_text=False)
-    self._chestnut_icon_gray = IconWidget("icons_mici/chestnut.png", (68, 40))
-    self._chestnut_icon_gray.set_visible(False)
-    failed_idx = self._status_bar_layout.widgets.index(self._chestnut_failed_icon)
-    self._status_bar_layout.widgets.insert(failed_idx + 1, self._chestnut_icon_gray)
+    self._egpu_icon_default = IconWidget("icons_mici/egpu.png", (50, 37))
+    self._egpu_icon_default.set_visible(False)
+    self._egpu_icon_orange = IconWidget("icons_mici/egpu_orange.png", (50, 37))
+    self._egpu_icon_orange.set_visible(False)
+    gray_idx = self._status_bar_layout.widgets.index(self._egpu_icon_gray)
+    self._status_bar_layout.widgets.insert(gray_idx + 1, self._egpu_icon_default)
+    self._status_bar_layout.widgets.insert(gray_idx + 2, self._egpu_icon_orange)
 
-  def _set_chestnut_visibility(self):
+  def _set_egpu_visibility(self):
     chestnut = ui_state.sm["deviceState"].chestnutPresent
     if not chestnut:
-      self._chestnut_icon.set_visible(False)
-      self._chestnut_failed_icon.set_visible(False)
-      self._chestnut_icon_gray.set_visible(False)
+      self._egpu_icon.set_visible(False)
+      self._egpu_icon_default.set_visible(False)
+      self._egpu_icon_orange.set_visible(False)
+      self._egpu_icon_gray.set_visible(False)
       return
 
-    big_model_selected = ui_state.chestnut_compiled or ui_state.model_runner_tinygrad
+    big_model_selected = ui_state.usbgpu_compiled or ui_state.model_runner_tinygrad
     big_model_failed = ui_state.started and ui_state.big_model_failed
-    loading = ui_state.chestnut_loading or (big_model_selected and ui_state.started and ui_state.chestnut_active is None)
+    loading = ui_state.usbgpu_loading or (big_model_selected and ui_state.started and ui_state.usbgpu_active is None)
 
     if loading:
-      self._chestnut_icon_gray._opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
-      self._chestnut_icon_gray.set_visible(True)
-      self._chestnut_icon.set_visible(False)
-      self._chestnut_failed_icon.set_visible(False)
+      self._egpu_icon_default._opacity = 0.35 + 0.65 * (0.5 - 0.5 * math.cos(rl.get_time() * 6.0))
+      self._egpu_icon_default.set_visible(True)
+      self._egpu_icon.set_visible(False)
+      self._egpu_icon_orange.set_visible(False)
+      self._egpu_icon_gray.set_visible(False)
     else:
-      self._chestnut_icon_gray._opacity = 1.0
-      self._chestnut_icon_gray.set_visible(not big_model_selected)
-      self._chestnut_icon.set_visible(big_model_selected and not big_model_failed)
-      self._chestnut_failed_icon.set_visible(big_model_selected and big_model_failed)
+      self._egpu_icon_default.set_visible(False)
+      self._egpu_icon.set_visible(big_model_selected and not big_model_failed)
+      self._egpu_icon_orange.set_visible(big_model_selected and big_model_failed)
+      self._egpu_icon_gray.set_visible(not big_model_selected)

openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py

@@ -27,14 +27,14 @@ def _model_info() -> tuple[str, str, str]:
   state = big_model_state()
   _, _, carry_display = carrying_model()
   if carry_display is None:
-    big = get_selected_bundle(ui_state.params, "chestnut")
-    carry_display = big.displayName if big else default_model_name("chestnut")
+    big = get_selected_bundle(ui_state.params, "usbgpu")
+    carry_display = big.displayName if big else default_model_name("usbgpu")
   active_text = (carry_display or active_name).lower()
   if state == 'failed':
     return active_text, tr("big model"), tr("unavailable")
   if state == 'loading':
     return active_text, tr("big model"), tr("getting ready")
-  header = tr("small model") if source == "chestnut" else tr("big model")
+  header = tr("small model") if source == "usbgpu" else tr("big model")
   return active_text, header, other_name.lower()
 
 
@@ -113,7 +113,7 @@ class ModelsLayoutMici(NavScroller):
 
     hardware_btns = []
     active = active_source()
-    for source, label in (("qcom", tr("small models")), ("chestnut", tr("big models"))):
+    for source, label in (("qcom", tr("small models")), ("usbgpu", tr("big models"))):
       bundle = get_selected_bundle(ui_state.params, source)
       value = (bundle.internalName if bundle else default_model_name(source)).lower()
       if source == active:

openpilot/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py

@@ -22,7 +22,7 @@ class HudRendererSP(HudRenderer):
 
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
-    if ui_state.chestnut_present and not ui_state.chestnut_compiled and ui_state.model_runner_tinygrad:
+    if ui_state.usbgpu and not ui_state.usbgpu_compiled and ui_state.model_runner_tinygrad:
       self._draw_model_source(rect)
     self.blind_spot_indicators.render(rect)
 

openpilot/selfdrive/ui/sunnypilot/model_info.py

@@ -11,8 +11,8 @@ from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL, DEFAULT_MO
 
 
 def active_source() -> str:
-  return get_active_source(chestnut=ui_state.chestnut_present,
-                           chestnut_active=ui_state.chestnut_active, chestnut_loading=ui_state.chestnut_loading,
+  return get_active_source(usbgpu=ui_state.usbgpu,
+                           usbgpu_active=ui_state.usbgpu_active, usbgpu_loading=ui_state.usbgpu_loading,
                            offroad=ui_state.is_offroad())
 
 
@@ -23,7 +23,7 @@ def bundles_for_source(source: str):
 
 
 def default_model(source: str) -> str:
-  return DEFAULT_BIG_MODEL if source == 'chestnut' else DEFAULT_MODEL
+  return DEFAULT_BIG_MODEL if source == 'usbgpu' else DEFAULT_MODEL
 
 
 def default_model_name(source: str) -> str:
@@ -32,10 +32,10 @@ def default_model_name(source: str) -> str:
 
 def big_model_state() -> str | None:
   """'failed' | 'loading' | None, mirroring the sidebar's detection (#1969)."""
-  if ui_state.started and ui_state.chestnut_present and ui_state.big_model_failed:
+  if ui_state.started and ui_state.usbgpu and ui_state.big_model_failed:
     return 'failed'
-  big_selected = ui_state.chestnut_compiled or ui_state.model_runner_tinygrad
-  if ui_state.chestnut_loading or (big_selected and ui_state.started and ui_state.chestnut_active is None):
+  big_selected = ui_state.usbgpu_compiled or ui_state.model_runner_tinygrad
+  if ui_state.usbgpu_loading or (big_selected and ui_state.started and ui_state.usbgpu_active is None):
     return 'loading'
   return None
 
@@ -45,14 +45,14 @@ def carrying_model() -> tuple[str | None, str | None, str | None]:
   when a Default big cannot carry, stock modeld runs the Default small, never the
   small slot's pick; a custom big has no automatic fallback yet -> (None, None, None)."""
   source = active_source()
-  if source == "chestnut":
-    bundle = get_selected_bundle(ui_state.params, "chestnut")
+  if source == "usbgpu":
+    bundle = get_selected_bundle(ui_state.params, "usbgpu")
     if bundle:
-      return "chestnut", bundle.internalName, bundle.displayName
-    name = default_model_name("chestnut")
-    return "chestnut", name, name
-  if ui_state.chestnut_present:
-    if get_selected_bundle(ui_state.params, "chestnut") is None:
+      return "usbgpu", bundle.internalName, bundle.displayName
+    name = default_model_name("usbgpu")
+    return "usbgpu", name, name
+  if ui_state.usbgpu:
+    if get_selected_bundle(ui_state.params, "usbgpu") is None:
       name = default_model_name("qcom")
       return "qcom", name, name
     return None, None, None
@@ -66,7 +66,7 @@ def carrying_model() -> tuple[str | None, str | None, str | None]:
 def queued_name(current_ref) -> str | None:
   ref = ui_state.params.get("ModelManager_DownloadRef")
   if ref and ref != current_ref:
-    source_bundles = {source: bundles_for_source(source) for source in ("qcom", "chestnut")}
+    source_bundles = {source: bundles_for_source(source) for source in ("qcom", "usbgpu")}
     if resolved := resolve_bundle_by_ref(ref, source_bundles):
       return resolved[0].internalName
   return None
@@ -79,7 +79,7 @@ def model_info() -> tuple[str, str, str]:
   manager republishes a tick after a chestnut change, so the stale bundle
   would flash the wrong model."""
   source = active_source()
-  other = "qcom" if source == "chestnut" else "chestnut"
+  other = "qcom" if source == "usbgpu" else "usbgpu"
   active_bundle = get_selected_bundle(ui_state.params, source)
   other_bundle = get_selected_bundle(ui_state.params, other)
 

openpilot/selfdrive/ui/sunnypilot/ui_state.py

@@ -152,8 +152,8 @@ class UIStateSP:
       self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
 
     self._enforce_constraints()
-    source = get_active_source(chestnut=self.chestnut_present, chestnut_active=self.chestnut_active,
-                               chestnut_loading=self.chestnut_loading, offroad=self.is_offroad())
+    source = get_active_source(usbgpu=self.usbgpu, usbgpu_active=self.usbgpu_active,
+                               usbgpu_loading=self.usbgpu_loading, offroad=self.is_offroad())
     self.active_bundle = self.params.get(ACTIVE_BUNDLE_KEYS[source])
     self.model_runner_tinygrad = self.active_bundle is not None and self.active_bundle.get("runner") == "tinygrad"
     self.blindspot = self.params.get_bool("BlindSpot")

openpilot/selfdrive/ui/ui_state.py

@@ -12,7 +12,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.hardware import HARDWARE, PC
-from openpilot.selfdrive.modeld.helpers import chestnut_compiled
+from openpilot.selfdrive.modeld.helpers import usbgpu_compiled
 
 from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
 
@@ -28,15 +28,6 @@ class UIStatus(Enum):
   LONG_ONLY = "long_only"
 
 
-class ChestnutState(Enum):
-  DISCONNECTED = "disconnected"
-  UNCOMPILED = "uncompiled"
-  READY = "ready"
-  LOADING = "loading"
-  ACTIVE = "active"
-  FAILED = "failed"
-
-
 class UIState(UIStateSP):
   _instance: 'UIState | None' = None
 
@@ -91,11 +82,10 @@ class UIState(UIStateSP):
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
     self.experimental_mode_confirmed: bool = self.params.get_bool("ExperimentalModeConfirmed")
-    self.chestnut_present: bool = False
-    self.chestnut_compiled: bool = chestnut_compiled()
-    self.chestnut_active: bool | None = None
-    self.chestnut_loading: bool = False
-    self.chestnut_state = ChestnutState.DISCONNECTED
+    self.usbgpu: bool = False
+    self.usbgpu_compiled: bool = usbgpu_compiled()
+    self.usbgpu_active: bool | None = self.params.get("UsbGpuActive")
+    self.usbgpu_loading: bool = self.params.get_bool("UsbGpuLoading")
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
@@ -125,11 +115,11 @@ class UIState(UIStateSP):
   @property
   def big_model_failed(self) -> bool:
     # Mirrors the onroad HUD's four-condition check so sidebar and home icons reflect the same failure states
-    return (self.chestnut_active is False or
+    return (self.usbgpu_active is False or
             not self.sm['deviceState'].chestnutPresent or
-            (self.chestnut_active is True and self.sm.recv_frame['modelV2'] > self.started_frame and
+            (self.usbgpu_active is True and self.sm.recv_frame['modelV2'] > self.started_frame and
              not self.sm.alive['modelV2']) or
-            (self.chestnut_active is None and self.sm.recv_frame['modelV2'] > self.started_frame))
+            (self.usbgpu_active is None and self.sm.recv_frame['modelV2'] > self.started_frame))
 
   @property
   def engaged(self) -> bool:
@@ -150,7 +140,6 @@ class UIState(UIStateSP):
     self.sm.update(0)
     self._update_state()
     self._update_status()
-    self._update_chestnut_state()
     device.update()
     UIStateSP.update(self)
 
@@ -214,35 +203,12 @@ class UIState(UIStateSP):
         self.status = UIStatus.DISENGAGED
         self.started_frame = self.sm.frame
         self.started_time = time.monotonic()
-        self.chestnut_present = self.sm["deviceState"].chestnutPresent
 
       for callback in self._offroad_transition_callbacks:
         callback()
 
       self._started_prev = self.started
 
-  def _update_chestnut_state(self) -> None:
-    detected = self.sm["deviceState"].chestnutPresent
-    if not self.started:
-      self.chestnut_present = detected
-      self.chestnut_state = (ChestnutState.READY if detected and self.chestnut_compiled else
-                             ChestnutState.UNCOMPILED if detected else ChestnutState.DISCONNECTED)
-      return
-
-    model_seen = self.sm.recv_frame["modelV2"] > self.started_frame
-    if not self.chestnut_present:
-      self.chestnut_state = ChestnutState.DISCONNECTED
-    elif not self.chestnut_compiled:
-      self.chestnut_state = ChestnutState.UNCOMPILED
-    elif self.chestnut_state == ChestnutState.FAILED or not detected or (model_seen and (not self.sm.alive["modelV2"] or not self.sm["modelV2"].big)):
-      self.chestnut_state = ChestnutState.FAILED
-    elif self.chestnut_loading or not model_seen:
-      self.chestnut_state = ChestnutState.LOADING
-    elif self.chestnut_active is False:
-      self.chestnut_state = ChestnutState.FAILED
-    else:
-      self.chestnut_state = ChestnutState.ACTIVE
-
   def update_params(self) -> None:
     # For slower operations
     # Update longitudinal control state
@@ -259,10 +225,12 @@ class UIState(UIStateSP):
     self.always_on_dm = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
     self.experimental_mode_confirmed = self.params.get_bool("ExperimentalModeConfirmed")
-    if not self.chestnut_compiled:
-      self.chestnut_compiled = chestnut_compiled()
-    self.chestnut_active = self.params.get("ChestnutActive")
-    self.chestnut_loading = self.params.get_bool("ChestnutLoading")
+    # keep usbgpu UI active until offroad transition when gpu disappears
+    self.usbgpu = self.sm["deviceState"].chestnutPresent or (self.usbgpu and self.started)
+    if not self.usbgpu_compiled:
+      self.usbgpu_compiled = usbgpu_compiled()
+    self.usbgpu_active = self.params.get("UsbGpuActive")
+    self.usbgpu_loading = self.params.get_bool("UsbGpuLoading")
 
     UIStateSP.update_params(self)
 

openpilot/sunnypilot/modeld_v2/compile_modeld.py

@@ -298,7 +298,7 @@ def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
 
 
 if __name__ == "__main__":
-  if 'USB' in os.getenv('DEV', '') or os.getenv('CHESTNUT'):
+  if 'USB' in os.getenv('DEV', '') or os.getenv('USBGPU'):
     from openpilot.system.hardware.chestnut.flash import link_up
     for _ in range(10):
       if link_up():

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -9,7 +9,7 @@ See the LICENSE.md file in the root directory for more details.
 import os
 os.environ['GMMU'] = '0'
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.selfdrive.modeld.helpers import chestnut_present, load_oob
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, load_oob
 import time
 import numpy as np
 import openpilot.cereal.messaging as messaging
@@ -84,14 +84,14 @@ class ModelState(ModelStateBase):
   inputs: dict[str, np.ndarray]
   prev_desire: np.ndarray
 
-  def __init__(self, cam_w: int, cam_h: int, chestnut: bool = False):
+  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool = False):
     ModelStateBase.__init__(self)
 
     env_pkl = os.environ.get('COMBINED_MODEL_PKL')
     if env_pkl and os.path.exists(env_pkl):
       model_bundle = None
     else:
-      model_bundle = get_active_bundle(chestnut=chestnut)
+      model_bundle = get_active_bundle(usbgpu=usbgpu)
     self.generation = model_bundle.generation if model_bundle is not None else None
     overrides = {override.key: override.value for override in model_bundle.overrides} if model_bundle else {}
 
@@ -99,7 +99,7 @@ class ModelState(ModelStateBase):
     self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
     self.MIN_LAT_CONTROL_SPEED = 0.3
     self.PLANPLUS_CONTROL: float = 1.0
-    self.chestnut = chestnut
+    self.usbgpu = usbgpu
 
     pkl_path = _find_driving_pkl(model_bundle)
     assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
@@ -110,7 +110,7 @@ class ModelState(ModelStateBase):
     jits = load_oob(open_file_chunked(pkl_path))
 
     self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
-    self.DEV = 'AMD' if self.chestnut else self.WARP_DEV
+    self.DEV = 'AMD' if self.usbgpu else self.WARP_DEV
     self.QUEUE_DEV = self.DEV
     metadata = jits['metadata']
 
@@ -185,7 +185,7 @@ class ModelState(ModelStateBase):
     else:
       self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
 
-    if self.chestnut:
+    if self.usbgpu:
       self.warmup()
 
   def warmup(self) -> None:
@@ -287,7 +287,7 @@ class ModelState(ModelStateBase):
       buf[0, :-1] = buf[0, 1:]
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
-    if self.chestnut and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
+    if self.usbgpu and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
       cloudlog.error("model output not finite, dropping frame")
       return None
 
@@ -327,13 +327,13 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
-  CHESTNUT = chestnut_present()
-  if CHESTNUT:
+  USBGPU = usbgpu_present()
+  if USBGPU:
     os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
 
   params = Params()
-  params.put_bool("ChestnutLoading", CHESTNUT)
-  params.remove("ChestnutActive")
+  params.put_bool("UsbGpuLoading", USBGPU)
+  params.remove("UsbGpuActive")
 
   # visionipc clients
   while True:
@@ -362,31 +362,31 @@ def main(demo=False):
   st = time.monotonic()
 
   model = None
-  if CHESTNUT:
+  if USBGPU:
     import threading
     def load():
       nonlocal model
-      model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=True)
+      model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=True)
     t = threading.Thread(target=load, daemon=True)
     t.start()
     t.join(60)
     if model is None:
-      params.put_bool("ChestnutActive", False)
-      raise RuntimeError("chestnut model load failed or timed out (60s)")
-    params.put_bool("ChestnutActive", True)
+      params.put_bool("UsbGpuActive", False)
+      raise RuntimeError("eGPU model load failed or timed out (60s)")
+    params.put_bool("UsbGpuActive", True)
   else:
-    model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, chestnut=False)
+    model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=False)
 
-  params.put_bool("ChestnutLoading", False)
+  params.put_bool("UsbGpuLoading", False)
   cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # messaging
-  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if CHESTNUT else [])
+  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
   pm = PubMaster(pub_socks)
   sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
 
   publish_state = PublishState()
-  chestnut_state = ChestnutState(pm, CHESTNUT) if CHESTNUT else None
+  chestnut_state = ChestnutState(pm, USBGPU) if USBGPU else None
 
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
@@ -524,7 +524,7 @@ def main(demo=False):
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants)
-      modelv2_send.modelV2.big = model.chestnut
+      modelv2_send.modelV2.big = model.usbgpu
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]

openpilot/sunnypilot/modeld_v2/tests/helpers.py

@@ -190,8 +190,8 @@ def tmp_path():
 
 def patch_modeld(monkeypatch):
   def _patch(bundle):
-    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
-    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None, *, usbgpu=None: bundle)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, usbgpu=None: bundle)
 
   return _patch
 

openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py

@@ -59,8 +59,8 @@ class TestFindDrivingPkl(OpenpilotTestCase):
 class TestModelStateCombinedInit(OpenpilotTestCase):
   def test_asserts_when_no_pkl(self, monkeypatch):
     bundle = DummyBundle(models=[], is_20hz=True)
-    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
-    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, chestnut=None: bundle)
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None, *, usbgpu=None: bundle)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None, *, usbgpu=None: bundle)
     with self.assertRaisesRegex(AssertionError, "No driving pkl found"):
       ModelState(cam_w=CAM_W, cam_h=CAM_H)
 

openpilot/sunnypilot/models/default_model.py

@@ -9,8 +9,8 @@ from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MO
 
 
 def get_default_model() -> str:
-  show_big_model = (ui_state.chestnut_present
-                    and (ui_state.chestnut_active or ui_state.chestnut_loading or ui_state.is_offroad()))
+  show_big_model = (ui_state.usbgpu
+                    and (ui_state.usbgpu_active or ui_state.usbgpu_loading or ui_state.is_offroad()))
 
   return DEFAULT_BIG_MODEL if show_big_model else DEFAULT_MODEL
 

openpilot/sunnypilot/models/fetcher.py

@@ -139,11 +139,11 @@ class ModelCache:
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
   MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v21.json"
-  MODEL_URL_CHESTNUT = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_chestnut_v22.json"
+  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v22.json"
 
   MODEL_SOURCES = {
     "qcom": (MODEL_URL, ""),
-    "chestnut": (MODEL_URL_CHESTNUT, "_Chestnut"),
+    "usbgpu": (MODEL_URL_USBGPU, "_USBGPU"),
   }
 
   def __init__(self, params: Params):
@@ -156,12 +156,12 @@ class ModelFetcher:
     self._refetched: set[str] = set()
     self.params.put("ModelManager_ActiveJson", {
       "qcom": self.MODEL_URL,
-      "chestnut": self.MODEL_URL_CHESTNUT,
+      "usbgpu": self.MODEL_URL_USBGPU,
     }, block=True)
 
   @staticmethod
   def active_source(chestnut_present: bool) -> str:
-    return "chestnut" if chestnut_present else "qcom"
+    return "usbgpu" if chestnut_present else "qcom"
 
   def _fetch_and_cache_models(self, source: str) -> list[custom.ModelManagerSP.ModelBundle] | None:
     """Fetches fresh model data from remote and updates cache.
@@ -200,7 +200,7 @@ class ModelFetcher:
   @staticmethod
   def _cache_matches_source(source: str, cached_data: dict) -> bool:
     bundles = cached_data.get("bundles", [])
-    if source == "chestnut":
+    if source == "usbgpu":
       return any(bundle.get("is_big") is True for bundle in bundles)
     return not any(bundle.get("is_big") is True for bundle in bundles)
 
@@ -261,10 +261,10 @@ def get_cached_bundles(params: Params, source: str) -> list[custom.ModelManagerS
 
 
 if __name__ == "__main__":
-  from openpilot.selfdrive.modeld.helpers import chestnut_present
+  from openpilot.selfdrive.modeld.helpers import usbgpu_present
   params = Params()
   model_fetcher = ModelFetcher(params)
-  bundles = model_fetcher.get_bundles_for_source(ModelFetcher.active_source(chestnut_present()))
+  bundles = model_fetcher.get_bundles_for_source(ModelFetcher.active_source(usbgpu_present()))
   for bundle in bundles:
     for model in bundle.models:
       model_overrides = {override.key: override.value for override in bundle.overrides}

openpilot/sunnypilot/models/helpers.py

@@ -16,7 +16,7 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
 from openpilot.common.hardware.hw import Paths
-from openpilot.selfdrive.modeld.helpers import chestnut_present
+from openpilot.selfdrive.modeld.helpers import usbgpu_present
 
 # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
 REQUIRED_JSON_VERSION = 18
@@ -27,7 +27,7 @@ ModelManager = custom.ModelManagerSP
 
 ACTIVE_BUNDLE_KEYS = {
   "qcom": "ModelManager_ActiveBundle",
-  "chestnut": "ModelManager_ActiveBundleChestnut",
+  "usbgpu": "ModelManager_ActiveBundleUSBGPU",
 }
 _LAST_VALIDATED_RAW: dict[str, dict | None] = {}
 
@@ -126,20 +126,20 @@ def get_selected_bundle(params: Params | None = None, source: str = "qcom") -> "
   return _parse_active_bundle(params.get(ACTIVE_BUNDLE_KEYS[source]))
 
 
-def get_active_source(chestnut: bool | None = None, chestnut_active: bool | None = None,
-                      chestnut_loading: bool | None = None, offroad: bool | None = None) -> str:
-  if chestnut is None:
-    chestnut = chestnut_present()
-  state_valid = chestnut_active is not None or chestnut_loading is not None or offroad is not None
-  big_active = chestnut and (not state_valid or chestnut_active or chestnut_loading or offroad)
-  return "chestnut" if big_active else "qcom"
+def get_active_source(usbgpu: bool | None = None, usbgpu_active: bool | None = None,
+                      usbgpu_loading: bool | None = None, offroad: bool | None = None) -> str:
+  if usbgpu is None:
+    usbgpu = usbgpu_present()
+  state_valid = usbgpu_active is not None or usbgpu_loading is not None or offroad is not None
+  big_active = usbgpu and (not state_valid or usbgpu_active or usbgpu_loading or offroad)
+  return "usbgpu" if big_active else "qcom"
 
 
-def get_active_bundle(params: Params | None = None, *, chestnut: bool | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
+def get_active_bundle(params: Params | None = None, *, usbgpu: bool | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
   # no cross-slot fallback: an empty active slot means the hardware default, which
   # only stock modeld can run - modeld_v2 requires a real bundle
   params = params or Params()
-  return get_selected_bundle(params, get_active_source(chestnut=chestnut))
+  return get_selected_bundle(params, get_active_source(usbgpu=usbgpu))
 
 
 def resolve_bundle_by_ref(

openpilot/sunnypilot/models/manager.py

@@ -40,7 +40,7 @@ class ModelManagerSP:
     self.available_models: list[custom.ModelManagerSP.ModelBundle] = []
     self.source_models: dict[str, list[custom.ModelManagerSP.ModelBundle]] = {}
     self.selected_bundle: custom.ModelManagerSP.ModelBundle = None
-    self.active_bundle: custom.ModelManagerSP.ModelBundle = get_active_bundle(self.params, chestnut=self.chestnut_present)
+    self.active_bundle: custom.ModelManagerSP.ModelBundle = get_active_bundle(self.params, usbgpu=self.chestnut_present)
     self._chunk_size = 128 * 1000  # 128 KB chunks
     self._download_start_times: dict[str, float] = {}  # Track start time per model
     self._download_ref: bytes | str | None = None
@@ -280,7 +280,7 @@ class ModelManagerSP:
         raise DownloadCancelled("Download cancelled")
       self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
       self.params.put(ACTIVE_BUNDLE_KEYS[source], model_bundle.to_dict(), block=True)
-      self.active_bundle = get_active_bundle(self.params, chestnut=self.chestnut_present)
+      self.active_bundle = get_active_bundle(self.params, usbgpu=self.chestnut_present)
 
     except Exception:
       if self.selected_bundle is not None:
@@ -326,7 +326,7 @@ class ModelManagerSP:
         self.source_models = {source: self.model_fetcher.get_bundles_for_source(source) for source in ModelFetcher.MODEL_SOURCES}
         self.available_models = self.source_models[ModelFetcher.active_source(self.chestnut_present)]
         validate_active_bundles(self.params, self.source_models)
-        self.active_bundle = get_active_bundle(self.params, chestnut=self.chestnut_present)
+        self.active_bundle = get_active_bundle(self.params, usbgpu=self.chestnut_present)
 
         self._process_download_requests()
 

openpilot/sunnypilot/models/tests/test_manager_download.py

@@ -392,7 +392,7 @@ class TestManagerDownload(ManagerDownloadTestBase):
       asyncio.run(self.manager._download_bundle(self._bundle, self.dest, "qcom"))
 
       assert "ModelManager_ActiveBundle" in store, "qcom download must write the qcom slot"
-      assert "ModelManager_ActiveBundleChestnut" not in store, "qcom download must not touch the chestnut slot"
+      assert "ModelManager_ActiveBundleUSBGPU" not in store, "qcom download must not touch the usbgpu slot"
       assert self.manager.selected_bundle.status == custom.ModelManagerSP.DownloadStatus.downloaded
       assert self.manager.active_bundle is not None and self.manager.active_bundle.ref == "test-ref"
       assert self.manager.active_bundle.status == custom.ModelManagerSP.DownloadStatus.downloaded
@@ -401,18 +401,18 @@ class TestManagerDownload(ManagerDownloadTestBase):
       assert missing == [], f"chunks missing from the cache: {missing}"
     self.run_with_server(body)
 
-  def test_download_writes_chestnut_slot(self):
-    """A download resolved to the chestnut source writes the chestnut active bundle slot only."""
+  def test_download_writes_usbgpu_slot(self):
+    """A download resolved to the usbgpu source writes the usbgpu active bundle slot only."""
     def body():
       self.make_artifact(chunked=True)
       self._bundle.ref = "big-ref"
       self._bundle.minimumSelectorVersion = 18
       params, store = self._make_params_with_store()
       self.manager.params = params
-      asyncio.run(self.manager._download_bundle(self._bundle, self.dest, "chestnut"))
+      asyncio.run(self.manager._download_bundle(self._bundle, self.dest, "usbgpu"))
 
-      assert "ModelManager_ActiveBundleChestnut" in store, "chestnut download must write the chestnut slot"
-      assert "ModelManager_ActiveBundle" not in store, "chestnut download must not touch the qcom slot"
+      assert "ModelManager_ActiveBundleUSBGPU" in store, "usbgpu download must write the usbgpu slot"
+      assert "ModelManager_ActiveBundle" not in store, "usbgpu download must not touch the qcom slot"
       assert self.manager.selected_bundle.status == custom.ModelManagerSP.DownloadStatus.downloaded
     self.run_with_server(body)
 
@@ -447,20 +447,20 @@ class TestResolveBundleByRef(OpenpilotTestCase):
 
   def test_qcom_ref_resolves_to_qcom_slot(self):
     small = self._bundle("small")
-    assert resolve_bundle_by_ref("small", {"qcom": [small], "chestnut": []}) == (small, "qcom")
+    assert resolve_bundle_by_ref("small", {"qcom": [small], "usbgpu": []}) == (small, "qcom")
 
-  def test_chestnut_ref_resolves_to_chestnut_slot(self):
+  def test_usbgpu_ref_resolves_to_usbgpu_slot(self):
     big = self._bundle("big")
-    assert resolve_bundle_by_ref("big", {"qcom": [], "chestnut": [big]}) == (big, "chestnut")
+    assert resolve_bundle_by_ref("big", {"qcom": [], "usbgpu": [big]}) == (big, "usbgpu")
 
   def test_unknown_ref_returns_none(self):
-    source_bundles = {"qcom": [self._bundle("small")], "chestnut": []}
+    source_bundles = {"qcom": [self._bundle("small")], "usbgpu": []}
     assert resolve_bundle_by_ref("nope", source_bundles) is None
 
 
 def manifest_bundle(short_name: str, ref: str, index: int = 0, is_big: bool = False) -> dict:
   """Minimal manifest bundle dict, version-compatible (no chunks to avoid disk side effects).
-  Big (chestnut) bundles carry `is_big: true` in the manifest JSON."""
+  Big (usbgpu) bundles carry `is_big: true` in the manifest JSON."""
   return {
     "index": index,
     "short_name": short_name,
@@ -489,15 +489,15 @@ class TestModelFetcherSources(OpenpilotTestCase):
   """Both manifests are always maintained: get_bundles_for_source exposes either
   source by name, and active_source picks which one matches the attached hardware."""
 
-  def _make_params(self, qcom_manifest, chestnut_manifest):
+  def _make_params(self, qcom_manifest, usbgpu_manifest):
     params = mock.MagicMock()
 
     def get(key):
       if key == "ModelManager_ModelsCache":
         return qcom_manifest
-      if key == "ModelManager_ModelsCache_Chestnut":
-        return chestnut_manifest
-      if key in ("ModelManager_LastSyncTime", "ModelManager_LastSyncTime_Chestnut"):
+      if key == "ModelManager_ModelsCache_USBGPU":
+        return usbgpu_manifest
+      if key in ("ModelManager_LastSyncTime", "ModelManager_LastSyncTime_USBGPU"):
         return fresh_sync_time()
       return None
 
@@ -506,14 +506,14 @@ class TestModelFetcherSources(OpenpilotTestCase):
 
   def test_active_source_follows_chestnut_presence(self):
     assert ModelFetcher.active_source(False) == "qcom"
-    assert ModelFetcher.active_source(True) == "chestnut"
+    assert ModelFetcher.active_source(True) == "usbgpu"
 
   def test_get_bundles_for_source_returns_each_source(self):
     params = self._make_params({"bundles": [manifest_bundle("small", "aaa")]},
                                {"bundles": [manifest_bundle("big", "bbb", is_big=True)]})
     fetcher = ModelFetcher(params)
     assert [bundle.ref for bundle in fetcher.get_bundles_for_source("qcom")] == ["aaa"]
-    assert [bundle.ref for bundle in fetcher.get_bundles_for_source("chestnut")] == ["bbb"]
+    assert [bundle.ref for bundle in fetcher.get_bundles_for_source("usbgpu")] == ["bbb"]
 
   def test_get_bundles_for_source_unknown(self):
     assert ModelFetcher(mock.MagicMock()).get_bundles_for_source("bogus") == []
@@ -522,16 +522,16 @@ class TestModelFetcherSources(OpenpilotTestCase):
     params = self._make_params({"bundles": [manifest_bundle("small", "aaa")]},
                                {"bundles": [manifest_bundle("big", "bbb", is_big=True)]})
     qcom_bundles = get_cached_bundles(params, "qcom")
-    chestnut_bundles = get_cached_bundles(params, "chestnut")
+    usbgpu_bundles = get_cached_bundles(params, "usbgpu")
     assert [b.ref for b in qcom_bundles] == ["aaa"]
-    assert [b.ref for b in chestnut_bundles] == ["bbb"]
+    assert [b.ref for b in usbgpu_bundles] == ["bbb"]
     assert qcom_bundles[0].displayName == "SMALL"
 
   def test_get_cached_bundles_empty_when_missing(self):
     params = mock.MagicMock()
     params.get.return_value = None
     assert get_cached_bundles(params, "qcom") == []
-    assert get_cached_bundles(params, "chestnut") == []
+    assert get_cached_bundles(params, "usbgpu") == []
 
   def test_get_cached_bundles_unknown_source(self):
     assert get_cached_bundles(mock.MagicMock(), "bogus") == []
@@ -543,27 +543,27 @@ class TestModelFetcherSources(OpenpilotTestCase):
     assert active_json_calls, "expected ModelManager_ActiveJson to be written"
     assert active_json_calls[-1].args[1] == {
       "qcom": ModelFetcher.MODEL_URL,
-      "chestnut": ModelFetcher.MODEL_URL_CHESTNUT,
+      "usbgpu": ModelFetcher.MODEL_URL_USBGPU,
     }
 
 
 
 class TestSourceCacheIntegrity(OpenpilotTestCase):
   """Each source's cached manifest must contain only that source's models; the
-  `is_big` flag in the JSON marks the big (chestnut) models. A mismatched cache is
+  `is_big` flag in the JSON marks the big (usbgpu) models. A mismatched cache is
   legacy data from before the per-source split (the active manifest was cached
   under the unsuffixed key regardless of hardware) and is refetched. This
   replaces the old one-time bundle migration."""
 
-  def _make_params(self, qcom_manifest, chestnut_manifest):
+  def _make_params(self, qcom_manifest, usbgpu_manifest):
     params = mock.MagicMock()
 
     def get(key):
       if key == "ModelManager_ModelsCache":
         return qcom_manifest
-      if key == "ModelManager_ModelsCache_Chestnut":
-        return chestnut_manifest
-      if key in ("ModelManager_LastSyncTime", "ModelManager_LastSyncTime_Chestnut"):
+      if key == "ModelManager_ModelsCache_USBGPU":
+        return usbgpu_manifest
+      if key in ("ModelManager_LastSyncTime", "ModelManager_LastSyncTime_USBGPU"):
         return fresh_sync_time()
       return None
 
@@ -584,13 +584,13 @@ class TestSourceCacheIntegrity(OpenpilotTestCase):
       bundles = fetcher.get_bundles_for_source("qcom")
     assert [bundle.ref for bundle in bundles] == ["aaa"]
 
-  def test_chestnut_cache_without_big_models_is_refetched(self):
+  def test_usbgpu_cache_without_big_models_is_refetched(self):
     params = self._make_params({"bundles": [manifest_bundle("small", "aaa")]},
                                {"bundles": [manifest_bundle("big2", "ccc")]})
     fetcher = ModelFetcher(params)
     fetched = self._fetched(manifest_bundle("big", "bbb", is_big=True))
     with mock.patch.object(fetcher, "_fetch_and_cache_models", return_value=fetched):
-      bundles = fetcher.get_bundles_for_source("chestnut")
+      bundles = fetcher.get_bundles_for_source("usbgpu")
     assert [bundle.ref for bundle in bundles] == ["bbb"]
 
   def test_matching_caches_are_used_without_fetch(self):
@@ -599,7 +599,7 @@ class TestSourceCacheIntegrity(OpenpilotTestCase):
     fetcher = ModelFetcher(params)
     with mock.patch.object(fetcher, "_fetch_and_cache_models", side_effect=AssertionError("cache should be used")):
       assert [bundle.ref for bundle in fetcher.get_bundles_for_source("qcom")] == ["aaa"]
-      assert [bundle.ref for bundle in fetcher.get_bundles_for_source("chestnut")] == ["bbb"]
+      assert [bundle.ref for bundle in fetcher.get_bundles_for_source("usbgpu")] == ["bbb"]
 
   def test_stale_version_cache_is_refetched(self):
     """A source-matching cache whose bundles are all filtered by the selector version
@@ -660,28 +660,28 @@ class TestActiveBundleValidation(OpenpilotTestCase):
       bundle.runner = runner
     return bundle.to_dict()
 
-  def _params(self, qcom=None, chestnut=None):
+  def _params(self, qcom=None, usbgpu=None):
     params = mock.MagicMock()
 
     def get(key, *args, **kwargs):
-      return {"ModelManager_ActiveBundle": qcom, "ModelManager_ActiveBundleChestnut": chestnut}.get(key)
+      return {"ModelManager_ActiveBundle": qcom, "ModelManager_ActiveBundleUSBGPU": usbgpu}.get(key)
 
     params.get.side_effect = get
     return params
 
   def test_empty_catalog_does_not_reset_slot(self):
     params = self._params(qcom=self._raw_bundle("small"))
-    with mock.patch("openpilot.sunnypilot.models.helpers.chestnut_present", return_value=False):
-      validate_active_bundles(params, {"qcom": [], "chestnut": []})
+    with mock.patch("openpilot.sunnypilot.models.helpers.usbgpu_present", return_value=False):
+      validate_active_bundles(params, {"qcom": [], "usbgpu": []})
     params.remove.assert_not_called()
 
   def test_reset_recomputes_runner_from_surviving_slot(self):
     tinygrad = int(custom.ModelManagerSP.Runner.tinygrad)
     big_raw = self._raw_bundle("big", runner=tinygrad)
-    params = self._params(qcom=self._raw_bundle("gone"), chestnut=big_raw)
+    params = self._params(qcom=self._raw_bundle("gone"), usbgpu=big_raw)
     catalog = {"qcom": [custom.ModelManagerSP.ModelBundle(**self._raw_bundle("other"))],
-               "chestnut": [custom.ModelManagerSP.ModelBundle(**big_raw)]}
-    with mock.patch("openpilot.sunnypilot.models.helpers.chestnut_present", return_value=True):
+               "usbgpu": [custom.ModelManagerSP.ModelBundle(**big_raw)]}
+    with mock.patch("openpilot.sunnypilot.models.helpers.usbgpu_present", return_value=True):
       validate_active_bundles(params, catalog)
     params.remove.assert_called_once_with("ModelManager_ActiveBundle")
     runner_puts = [call for call in params.put.call_args_list if call.args[0] == "ModelRunnerTypeCache"]
@@ -689,7 +689,7 @@ class TestActiveBundleValidation(OpenpilotTestCase):
 
 
 class TestActiveBundleSelection(OpenpilotTestCase):
-  """The effective active bundle is the active source's slot: chestnut when a GPU is
+  """The effective active bundle is the active source's slot: usbgpu when a GPU is
   present, qcom otherwise. An empty active slot means the hardware default (stock
   runner), never the other slot's pick - modeld_v2 requires a real bundle."""
 
@@ -700,37 +700,37 @@ class TestActiveBundleSelection(OpenpilotTestCase):
     bundle.minimumSelectorVersion = 18
     return bundle.to_dict()
 
-  def _params(self, qcom=None, chestnut=None):
+  def _params(self, qcom=None, usbgpu=None):
     params = mock.MagicMock()
 
     def get(key, *args, **kwargs):
       if key == "ModelManager_ActiveBundle":
         return qcom
-      if key == "ModelManager_ActiveBundleChestnut":
-        return chestnut
+      if key == "ModelManager_ActiveBundleUSBGPU":
+        return usbgpu
       return None
 
     params.get.side_effect = get
     return params
 
   def test_selected_bundle_is_per_slot(self):
-    params = self._params(qcom=self._raw_bundle("small"), chestnut=self._raw_bundle("big"))
+    params = self._params(qcom=self._raw_bundle("small"), usbgpu=self._raw_bundle("big"))
     assert get_selected_bundle(params, "qcom").ref == "small"
-    assert get_selected_bundle(params, "chestnut").ref == "big"
+    assert get_selected_bundle(params, "usbgpu").ref == "big"
 
   def test_no_gpu_uses_qcom_slot(self):
-    params = self._params(qcom=self._raw_bundle("small"), chestnut=self._raw_bundle("big"))
-    with mock.patch("openpilot.sunnypilot.models.helpers.chestnut_present", return_value=False):
+    params = self._params(qcom=self._raw_bundle("small"), usbgpu=self._raw_bundle("big"))
+    with mock.patch("openpilot.sunnypilot.models.helpers.usbgpu_present", return_value=False):
       assert get_active_bundle(params).ref == "small"
 
-  def test_gpu_uses_chestnut_slot(self):
-    params = self._params(qcom=self._raw_bundle("small"), chestnut=self._raw_bundle("big"))
-    with mock.patch("openpilot.sunnypilot.models.helpers.chestnut_present", return_value=True):
+  def test_gpu_uses_usbgpu_slot(self):
+    params = self._params(qcom=self._raw_bundle("small"), usbgpu=self._raw_bundle("big"))
+    with mock.patch("openpilot.sunnypilot.models.helpers.usbgpu_present", return_value=True):
       assert get_active_bundle(params).ref == "big"
 
   def test_gpu_without_big_selection_is_hardware_default(self):
-    params = self._params(qcom=self._raw_bundle("small"), chestnut=None)
-    with mock.patch("openpilot.sunnypilot.models.helpers.chestnut_present", return_value=True):
+    params = self._params(qcom=self._raw_bundle("small"), usbgpu=None)
+    with mock.patch("openpilot.sunnypilot.models.helpers.usbgpu_present", return_value=True):
       assert get_active_bundle(params) is None
 
 
@@ -748,36 +748,36 @@ class TestEffectiveSource(OpenpilotTestCase):
     return bundle.to_dict()
 
   def test_runtime_no_gpu(self):
-    with mock.patch("openpilot.sunnypilot.models.helpers.chestnut_present", return_value=False):
+    with mock.patch("openpilot.sunnypilot.models.helpers.usbgpu_present", return_value=False):
       assert get_active_source() == "qcom"
 
   def test_runtime_gpu_present(self):
-    with mock.patch("openpilot.sunnypilot.models.helpers.chestnut_present", return_value=True):
-      assert get_active_source() == "chestnut"
+    with mock.patch("openpilot.sunnypilot.models.helpers.usbgpu_present", return_value=True):
+      assert get_active_source() == "usbgpu"
 
   def test_display_offroad_gpu_present_shows_big(self):
-    assert get_active_source(chestnut=True, chestnut_active=False, chestnut_loading=False, offroad=True) == "chestnut"
+    assert get_active_source(usbgpu=True, usbgpu_active=False, usbgpu_loading=False, offroad=True) == "usbgpu"
 
   def test_display_onroad_gpu_loading_shows_big(self):
-    assert get_active_source(chestnut=True, chestnut_active=False, chestnut_loading=True, offroad=False) == "chestnut"
+    assert get_active_source(usbgpu=True, usbgpu_active=False, usbgpu_loading=True, offroad=False) == "usbgpu"
 
   def test_display_onroad_gpu_active_shows_big(self):
-    assert get_active_source(chestnut=True, chestnut_active=True, chestnut_loading=False, offroad=False) == "chestnut"
+    assert get_active_source(usbgpu=True, usbgpu_active=True, usbgpu_loading=False, offroad=False) == "usbgpu"
 
   def test_display_onroad_gpu_idle_shows_small(self):
-    assert get_active_source(chestnut=True, chestnut_active=False, chestnut_loading=False, offroad=False) == "qcom"
+    assert get_active_source(usbgpu=True, usbgpu_active=False, usbgpu_loading=False, offroad=False) == "qcom"
 
   def test_display_active_none_is_idle(self):
-    assert get_active_source(chestnut=True, chestnut_active=None, chestnut_loading=False, offroad=False) == "qcom"
+    assert get_active_source(usbgpu=True, usbgpu_active=None, usbgpu_loading=False, offroad=False) == "qcom"
 
   def test_active_bundle_follows_source(self):
     params = mock.MagicMock()
     params.get.side_effect = lambda key: {"ModelManager_ActiveBundle": self._raw_bundle("small"),
-                                          "ModelManager_ActiveBundleChestnut": self._raw_bundle("big")}.get(key)
-    with mock.patch("openpilot.sunnypilot.models.helpers.chestnut_present", return_value=False):
+                                          "ModelManager_ActiveBundleUSBGPU": self._raw_bundle("big")}.get(key)
+    with mock.patch("openpilot.sunnypilot.models.helpers.usbgpu_present", return_value=False):
       assert get_active_bundle(params).ref == "small"
-    assert get_selected_bundle(params, get_active_source(chestnut=True, chestnut_active=False,
-                                                         chestnut_loading=False, offroad=True)).ref == "big"
+    assert get_selected_bundle(params, get_active_source(usbgpu=True, usbgpu_active=False,
+                                                         usbgpu_loading=False, offroad=True)).ref == "big"
 
 
 @unittest.skipUnless(os.environ.get('RUN_INTEGRATION_TESTS'), 'requires external network')

openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py

@@ -104,6 +104,14 @@ class ControlsExt(ModelStateBase):
     CC_SP.intelligentCruiseButtonManagement.sendButton = icbm_src.sendButton
     CC_SP.intelligentCruiseButtonManagement.vTarget = icbm_src.vTarget
 
+    ford_path = getattr(self, 'ford_path', None)
+    if ford_path is not None:
+      CC_SP.fordLateralPath.valid = ford_path.valid
+      CC_SP.fordLateralPath.pathOffset = ford_path.path_offset
+      CC_SP.fordLateralPath.pathAngle = ford_path.path_angle
+      CC_SP.fordLateralPath.curvature = ford_path.curvature
+      CC_SP.fordLateralPath.curvatureRate = ford_path.curvature_rate
+
     return CC_SP
 
   @staticmethod

openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -183,7 +183,7 @@ def getParamsMetadata() -> str:
     schema["capability_labels"] = CAPABILITY_LABELS
     schema["default_model"] = DEFAULT_MODEL
     schema["default_big_model"] = DEFAULT_BIG_MODEL
-    schema["chestnut_active"] = params.get_bool("ChestnutActive")
+    schema["usbgpu_active"] = params.get_bool("UsbGpuActive")
     raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
     return base64.b64encode(gzip.compress(raw)).decode("utf-8")
   except Exception:

openpilot/sunnypilot/sunnylink/statsd.py

@@ -65,7 +65,7 @@ def sp_stats(end_event):
     'MadsSteeringMode',
     'MadsUnifiedEngagementMode',
     'ModelManager_ActiveBundle',
-    'ModelManager_ActiveBundleChestnut',
+    'ModelManager_ActiveBundleUSBGPU',
     'ModelManager_Favs',
     'EnableSunnylinkUploader',
     'SunnylinkEnabled',

openpilot/sunnypilot/system/params_migration.py

@@ -89,16 +89,12 @@ def _migrate_model_bundle_slots(_params):
   # ActiveBundle. Seed both slots; validation drops whichever does not match
   # its own manifest.
   try:
-    if _params.get("ModelManager_ActiveBundleChestnut") is not None:
-      return
-    if (chestnut_bundle := _params.get("ModelManager_ActiveBundleUSBGPU")) is not None:
-      _params.put("ModelManager_ActiveBundleChestnut", chestnut_bundle, block=True)
-      cloudlog.info("params_migration: seeded ModelManager_ActiveBundleChestnut from ModelManager_ActiveBundleUSBGPU")
+    if _params.get("ModelManager_ActiveBundleUSBGPU") is not None:
       return
     if (bundle := _params.get("ModelManager_ActiveBundle")) is None:
       return
-    _params.put("ModelManager_ActiveBundleChestnut", bundle, block=True)
-    cloudlog.info("params_migration: seeded ModelManager_ActiveBundleChestnut from ModelManager_ActiveBundle")
+    _params.put("ModelManager_ActiveBundleUSBGPU", bundle, block=True)
+    cloudlog.info("params_migration: seeded ModelManager_ActiveBundleUSBGPU from ModelManager_ActiveBundle")
   except Exception as e:
     cloudlog.exception(f"Error migrating model bundle slots: {e}")
 
@@ -140,5 +136,5 @@ def run_migration(_params):
   # seed TeslaMadsScreenButton for existing Tesla installs
   _migrate_tesla_mads_screen_button(_params)
 
-  # seed the chestnut model slot from the pre-split single slot
+  # seed the usbgpu model slot from the pre-split single slot
   _migrate_model_bundle_slots(_params)

openpilot/sunnypilot/system/tests/test_params_migration.py

@@ -15,22 +15,22 @@ class TestModelBundleSlotMigration(OpenpilotTestCase):
   The migration seeds both slots; per-source validation later drops whichever does not
   match its own manifest."""
 
-  def test_seeds_chestnut_slot_from_active_bundle(self):
+  def test_seeds_usbgpu_slot_from_active_bundle(self):
     params = Params()
     bundle = {"ref": "big", "minimumSelectorVersion": 18}
     params.put("ModelManager_ActiveBundle", bundle, block=True)
     _migrate_model_bundle_slots(params)
-    assert params.get("ModelManager_ActiveBundleChestnut") == bundle
+    assert params.get("ModelManager_ActiveBundleUSBGPU") == bundle
     assert params.get("ModelManager_ActiveBundle") == bundle
 
-  def test_noop_when_chestnut_slot_already_set(self):
+  def test_noop_when_usbgpu_slot_already_set(self):
     params = Params()
     params.put("ModelManager_ActiveBundle", {"ref": "small"}, block=True)
-    params.put("ModelManager_ActiveBundleChestnut", {"ref": "big"}, block=True)
+    params.put("ModelManager_ActiveBundleUSBGPU", {"ref": "big"}, block=True)
     _migrate_model_bundle_slots(params)
-    assert params.get("ModelManager_ActiveBundleChestnut") == {"ref": "big"}
+    assert params.get("ModelManager_ActiveBundleUSBGPU") == {"ref": "big"}
 
   def test_noop_when_no_selection(self):
     params = Params()
     _migrate_model_bundle_slots(params)
-    assert params.get("ModelManager_ActiveBundleChestnut") is None
+    assert params.get("ModelManager_ActiveBundleUSBGPU") is None

openpilot/system/hardware/hardwared.py

@@ -16,7 +16,7 @@ from openpilot.common.utils import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_compiled
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, usbgpu_compiled
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.basedir import BASEDIR
@@ -239,7 +239,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   fan_controller = FanController(int(1./DT_HW))
   chestnut = Chestnut()
-  big_model_available = (MODELS_DIR / 'big_driving_supercombo.onnx').is_file() or chestnut_compiled()
+  big_model_available = (MODELS_DIR / 'big_driving_supercombo.onnx').is_file() or usbgpu_compiled()
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)