Merge branch 'master-new' into dynamic-outputs-toggle

Sync: commaai/openpilot:master into sunnypilot/sunnypilot:master-new (#1034 )
Merge branch 'upstream/openpilot/master' into sync-20250710
2026-06-19 16:52:06 +08:00 · 2025-07-19 01:03:33 -04:00 · 2025-07-19 00:48:41 -04:00 · 2025-07-19 00:28:43 -04:00 · 2025-07-16 12:03:35 -07:00 · 2025-07-16 11:57:30 -07:00
105 changed files with 2577 additions and 5046 deletions
@@ -2,4 +2,4 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
+FOF
@@ -0,0 +1,226 @@
+name: Build All Tinygrad Models and Push to GitLab
+
+on:
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Branch to run workflow from'
+        required: false
+        default: 'master-new'
+        type: string
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    outputs:
+      json_file: ${{ steps.get-json.outputs.json_file }}
+    steps:
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Get next JSON version to use
+        id: get-json
+        run: |
+          cd docs/docs
+          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          next=$((latest+1))
+          json_file="driving_models_v${next}.json"
+          cp "driving_models_v${latest}.json" "$json_file"
+          echo "json_file=$json_file" >> $GITHUB_OUTPUT
+
+      - name: Upload context for next jobs
+        uses: actions/upload-artifact@v4
+        with:
+          name: context
+          path: docs
+
+  build-all:
+    runs-on: ubuntu-latest
+    needs: setup
+    env:
+      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          cd gitlab_docs
+          git checkout main
+          cd ..
+
+      - name: Set next recompiled dir
+        id: set-recompiled
+        run: |
+          cd gitlab_docs/models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
+          fi
+          recompiled_dir="recompiled${next_dir}"
+          mkdir -p "$recompiled_dir"
+          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
+
+      - name: Download context
+        uses: actions/download-artifact@v4
+        with:
+          name: context
+          path: .
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y jq gh
+
+      - name: Build all tinygrad models
+        id: trigger-builds
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          set -e
+          > triggered_run_ids.txt
+          BRANCH="${{ github.event.inputs.branch }}"
+          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
+            ref=$(echo "$bundle" | jq -r '.ref')
+            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
+            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
+            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
+            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+            gh workflow run sunnypilot-build-model.yaml \
+              --repo sunnypilot/sunnypilot \
+              --ref "$BRANCH" \
+              -f upstream_branch="$ref" \
+              -f custom_name="$display_name" \
+              -f is_20hz="$is_20hz"
+            for i in {1..24}; do
+              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+              if [ -n "$RUN_ID" ]; then
+                break
+              fi
+              sleep 5
+            done
+            if [ -z "$RUN_ID" ]; then
+              echo "ould not find the triggered workflow run for $display_name ($ref)"
+              exit 1
+            fi
+            echo "$RUN_ID" >> triggered_run_ids.txt
+          done
+
+      - name: Wait for all model builds to finish
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          set -e
+          SUCCESS_RUNS=()
+          FAILED_RUNS=()
+          declare -A RUN_ID_TO_NAME
+
+          while read -r RUN_ID; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
+            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
+          done < triggered_run_ids.txt
+
+          while read -r RUN_ID; do
+            echo "Watching run ID: $RUN_ID"
+            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
+            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
+            else
+              FAILED_RUNS+=("$RUN_ID")
+            fi
+          done < triggered_run_ids.txt
+
+          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
+            echo "All model builds failed. Aborting."
+            exit 1
+          fi
+
+          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
+            echo "WARNING: The following model builds failed:"
+            for RUN_ID in "${FAILED_RUNS[@]}"; do
+              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
+            done
+            echo "You may want to rerun these models manually."
+          fi
+
+      - name: Download and extract all model artifacts
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+          SUCCESS_RUNS=()
+          while read -r RUN_ID; do
+            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+            if [[ "$CONCLUSION" == "success" ]]; then
+              SUCCESS_RUNS+=("$RUN_ID")
+            fi
+          done < triggered_run_ids.txt
+
+          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
+            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+            if [ -n "$ZIP_PATH" ]; then
+              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+              rm -f "$ZIP_PATH"
+              echo "Unzipped and removed $ZIP_PATH"
+            else
+              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
+            fi
+            echo "Done processing $ARTIFACT_NAME"
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          mkdir -p models/"$(basename $RECOMPILED_DIR)"
+          git add models/"$(basename $RECOMPILED_DIR)"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
+          git push origin main
+
+      - name: Run json_parser.py to update JSON
+        run: |
+          python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"
+
+      - name: Push updated JSON to GitHub docs repo
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
+          git push origin gh-pages
@@ -0,0 +1,198 @@
+name: Build Single Tinygrad Model and Push
+
+on:
+  workflow_dispatch:
+    inputs:
+      build_model_ref:
+        description: 'Branch to use for build-model workflow'
+        required: false
+        default: 'master-new'
+        type: string
+      upstream_branch:
+        description: 'Upstream commit to build from'
+        required: true
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      recompiled_dir:
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        required: true
+        type: number
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: number
+      model_folder:
+        description: 'Model folder'
+        required: true
+        type: choice
+        options:
+          - Simple Plan Models
+          - TR Models
+          - DTR Models
+          - Custom Merge Models
+          - FOF series models
+          - Other
+      custom_model_folder:
+        description: 'Custom model folder name (if "Other" selected)'
+        required: false
+        type: string
+      generation:
+        description: 'Model generation'
+        required: false
+        type: number
+      version:
+        description: 'Minimum selector version'
+        required: false
+        type: number
+
+jobs:
+  build-single:
+    runs-on: ubuntu-latest
+    env:
+      RECOMPILED_DIR: recompiled${{ github.event.inputs.recompiled_dir }}
+      JSON_FILE: docs/docs/driving_models_v${{ github.event.inputs.json_version }}.json
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+          git checkout main
+          cd ..
+
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Validate recompiled dir and JSON version
+        run: |
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y jq gh
+
+      - name: Build model
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+          gh workflow run sunnypilot-build-model.yaml \
+            --repo sunnypilot/sunnypilot \
+            --ref "${{ github.event.inputs.build_model_ref }}" \
+            -f upstream_branch="${{ github.event.inputs.upstream_branch }}" \
+            -f custom_name="${{ github.event.inputs.custom_name }}"
+
+          for i in {1..24}; do
+            RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
+            if [ -n "$RUN_ID" ]; then
+              break
+            fi
+            sleep 5
+          done
+
+          if [ -z "$RUN_ID" ]; then
+            echo "Could not find the triggered workflow run."
+            exit 1
+          fi
+
+          echo "Watching run ID: $RUN_ID"
+          gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
+          CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
+          echo "Run concluded with: $CONCLUSION"
+          if [[ "$CONCLUSION" != "success" ]]; then
+            echo "Workflow run failed with conclusion: $CONCLUSION"
+            exit 1
+          fi
+
+      - name: Download and extract model artifact
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
+          RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+          ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
+          echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
+          mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
+          echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
+          gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
+          echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
+          ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
+          if [ -n "$ZIP_PATH" ]; then
+            echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
+            unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
+            rm -f "$ZIP_PATH"
+            echo "Unzipped and removed $ZIP_PATH"
+          else
+            echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME"
+          fi
+          echo "Done processing $ARTIFACT_NAME"
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          git push origin main
+
+      - name: Run json_parser.py to update JSON
+        run: |
+          FOLDER="${{ github.event.inputs.model_folder }}"
+          if [ "$FOLDER" = "Other" ]; then
+            FOLDER="${{ github.event.inputs.custom_model_folder }}"
+          fi
+          ARGS=""
+          [ -n "$FOLDER" ] && ARGS="$ARGS --model-folder \"$FOLDER\""
+          [ -n "${{ github.event.inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ github.event.inputs.generation }}\""
+          [ -n "${{ github.event.inputs.version }}" ] && ARGS="$ARGS --version \"${{ github.event.inputs.version }}\""
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS
+
+      - name: Push updated JSON to GitHub docs repo
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages
@@ -29,7 +29,7 @@ env:

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

-  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical

 jobs:
  build_release:
@@ -163,12 +163,6 @@ jobs:
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                        chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

  process_replay:
    name: process replay
@@ -192,10 +186,8 @@ jobs:
    - name: Run replay
      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
      run: |
-        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache && \
-                        coverage combine && \
-                        coverage xml"
+        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache"
    - name: Print diff
      id: print-diff
      if: always()
@@ -207,7 +199,7 @@ jobs:
        name: process_replay_diff.txt
        path: selfdrive/test/process_replay/diff.txt
    - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: false # TODO: move this to github instead of azure
      run: |
        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
    - name: Run regen
@@ -216,12 +208,6 @@ jobs:
      run: |
        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                        chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

  test_cars:
    name: cars
@@ -252,12 +238,6 @@ jobs:
      env:
        NUM_JOBS: 4
        JOB_ID: ${{ matrix.job }}
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}-${{ matrix.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

  car_docs_diff:
    name: PR comments
@@ -7,6 +7,7 @@ on:
 env:
  DAYS_BEFORE_PR_CLOSE: 2
  DAYS_BEFORE_PR_STALE: 9
+  DAYS_BEFORE_PR_STALE_DRAFT: 30

 jobs:
  stale:
@@ -24,6 +25,28 @@ jobs:
          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+          exempt-draft-pr: false
+
+          # issue config
+          days-before-issue-stale: -1 # ignore issues for now
+
+  # same as above, but give draft PRs more time
+  stale_drafts:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v9
+        with:
+          exempt-all-milestones: true
+
+          # pull request config
+          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
+          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          stale-pr-label: stale
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
+          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
+          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+          exempt-draft-pr: true

          # issue config
          days-before-issue-stale: -1 # ignore issues for now
@@ -70,8 +70,6 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh

-selfdrive/modeld/thneed/compile
-selfdrive/modeld/models/*.thneed
 selfdrive/modeld/models/*.pkl
 sunnypilot/modeld*/thneed/compile
 sunnypilot/modeld*/models/*.thneed
@@ -73,7 +73,7 @@ By default, sunnypilot uploads the driving data to comma servers. You can also a
 sunnypilot is open source software. The user is free to disable data collection if they wish to do so.

 sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.

 By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

@@ -1,5 +1,11 @@
-Version 0.9.10 (2025-06-30)
+Version 0.10.0 (2025-07-07)
 ========================
+* New driving model
+  * Lead car ground-truth fixes
+  * Ported over VAE from the MLSIM stack
+  * New training architecture described in CVPR paper
+* Enable live-learned steering actuation delay
+* Opt-in audio recording for dashcam video

 Version 0.9.9 (2025-05-23)
 ========================
@@ -39,10 +39,6 @@ AddOption('--clazy',
          action='store_true',
          help='build with clazy')

-AddOption('--compile_db',
-          action='store_true',
-          help='build clang compilation database')
-
 AddOption('--ccflags',
          action='store',
          type='string',
@@ -234,8 +230,7 @@ if arch == "Darwin":
  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
  env["LINKFLAGS"] += darwin_rpath_link_flags

-if GetOption('compile_db'):
-  env.CompilationDatabase('compile_commands.json')
+env.CompilationDatabase('compile_commands.json')

 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
@@ -1083,7 +1083,7 @@ struct ModelDataV2 {
  confidence @23: ConfidenceClass;

  # Model perceived motion
-  temporalPose @21 :Pose;
+  temporalPoseDEPRECATED @21 :Pose;

  # e2e lateral planner
  action @26: Action;
@@ -2470,13 +2470,19 @@ struct DebugAlert {
 struct UserFlag {
 }

-struct Microphone {
+struct SoundPressure @0xdc24138990726023 {
  soundPressure @0 :Float32;

  # uncalibrated, A-weighted
  soundPressureWeighted @3 :Float32;
  soundPressureWeightedDb @1 :Float32;
-  filteredSoundPressureWeightedDb @2 :Float32;
+
+  filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
+}
+
+struct AudioData {
+  data @0 :Data;
+  sampleRate @1 :UInt32;
 }

 struct Touch {
@@ -2556,7 +2562,8 @@ struct Event {
    livestreamDriverEncodeIdx @119 :EncodeIndex;

    # microphone data
-    microphone @103 :Microphone;
+    soundPressure @103 :SoundPressure;
+    rawAudioData @147 :AudioData;

    # systems stuff
    androidLog @20 :AndroidLogEntry;
@@ -73,7 +73,8 @@ _services: dict[str, tuple] = {
  "navThumbnail": (True, 0.),
  "qRoadEncodeIdx": (False, 20.),
  "userFlag": (True, 0., 1),
-  "microphone": (True, 10., 10),
+  "soundPressure": (True, 10., 10),
+  "rawAudioData": (False, 20.),

  # sunnypilot
  "modelManagerSP": (False, 1., 1),
@@ -1,13 +0,0 @@
-comment: false
-coverage:
-  status:
-    project:
-      default:
-        informational: true
-    patch: off
-
-ignore:
-  - "**/test_*.py"
-  - "selfdrive/test/**"
-  - "system/version.py" # codecov changes depending on if we are in a branch or not
-  - "tools"
@@ -1 +1 @@
-#define DEFAULT_MODEL "Vegetarian Filet o Fish (Default)"
+#define DEFAULT_MODEL "Tomb Raider 14 (Default)"
@@ -99,9 +99,10 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"PandaSignatures", CLEAR_ON_MANAGER_START},
    {"PrimeType", PERSISTENT},
+    {"RecordAudio", PERSISTENT | BACKUP},
    {"RecordFront", PERSISTENT | BACKUP},
    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
+    {"SecOCKey", PERSISTENT | DONT_LOG | BACKUP},
    {"RouteCount", PERSISTENT},
    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"SshEnabled", PERSISTENT | BACKUP},
@@ -136,6 +137,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
    {"DeviceBootMode", PERSISTENT | BACKUP},
    {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"InteractivityTimeout", PERSISTENT | BACKUP},
    {"MaxTimeOffroad", PERSISTENT | BACKUP},
    {"Brightness", PERSISTENT | BACKUP},
    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
@@ -149,6 +151,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},

    // Model Manager params
+    {"DynamicModeldOutputs", PERSISTENT | BACKUP},
    {"ModelManager_ActiveBundle", PERSISTENT},
    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
@@ -178,6 +181,8 @@ inline static std::unordered_map<std::string, uint32_t> keys = {

    // model panel params
    {"LagdToggle", PERSISTENT | BACKUP},
+    {"LagdToggleDesc", PERSISTENT},
+    {"LagdToggledelay", PERSISTENT | BACKUP},

    // mapd
    {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
@@ -198,13 +203,4 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"OsmStateTitle", PERSISTENT},
    {"OsmWayTest", PERSISTENT},
    {"RoadName", CLEAR_ON_ONROAD_TRANSITION},
-
-    // Tuning keys
-    {"EnableHkgTuningAngleSmoothingFactor", PERSISTENT | BACKUP},
-    {"HkgTuningAngleMinTorqueReductionGain", PERSISTENT | BACKUP},
-    {"HkgTuningAngleMaxTorqueReductionGain", PERSISTENT | BACKUP},
-    {"HkgTuningAngleActiveTorqueReductionGain", PERSISTENT | BACKUP},
-    {"HkgTuningOverridingCycles", PERSISTENT | BACKUP},
-    {"HkgAngleLiveTuning", CLEAR_ON_MANAGER_START}
-    
 };
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.10"
+#define COMMA_VERSION "0.10.0"
@@ -2,7 +2,6 @@ import contextlib
 import gc
 import os
 import pytest
-import random

 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
@@ -49,8 +48,6 @@ def clean_env():

@pytest.fixture(scope="function", autouse=True)
 def openpilot_function_fixture(request):
-  random.seed(0)
-
  with clean_env():
    # setup a clean environment for each test
    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
@@ -187,7 +187,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-24">Buy Here</a></sub></details>|||
-|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>|||
+|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024-25">Buy Here</a></sub></details>|||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>|||
@@ -59,7 +59,7 @@ dependencies = [
  "future-fstrings",

  # joystickd
-  "pygame",
+  "inputs",

  # these should be removed
  "psutil",
@@ -81,11 +81,9 @@ docs = [
 ]

 testing = [
-  "coverage",
  "hypothesis ==6.47.*",
  "mypy",
  "pytest",
-  "pytest-cov",
  "pytest-cpp",
  "pytest-subtests",
  # https://github.com/pytest-dev/pytest-xdist/issues/1215
@@ -110,6 +108,7 @@ dev = [
  "opencv-python-headless",
  "parameterized >=0.8, <0.9",
  "pyautogui",
+  "pygame",
  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
  "pywinctl",
@@ -265,8 +264,5 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "unittest".msg = "Use pytest"
 "pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"

-[tool.coverage.run]
-concurrency = ["multiprocessing", "thread"]
-
 [tool.ruff.format]
 quote-style = "preserve"
@@ -5,6 +5,7 @@ set -e
 DEFAULT_REPO_URL="https://github.com/sunnypilot"
 START_AT_BOOT=false
 RESTORE_MODE=false
+RUNNER_VERSION="2.325.0"

 # Parse command line arguments
 while [[ $# -gt 0 ]]; do
@@ -108,9 +109,9 @@ setup_system_configs() {
 install_runner() {
    echo "Downloading and setting up runner..."
    cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
+    curl -o actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz -L https://github.com/actions/runner/releases/download/v${RUNNER_VERSION}/actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo rm ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
    sudo chmod +x ./config.sh
 }

@@ -149,25 +150,32 @@ EOL
 }

 install_service() {
+    local service_name
+    if [ -f "${RUNNER_DIR}/.service" ]; then
+        service_name=$(cat "${RUNNER_DIR}/.service")
+    else
+        service_name="actions.runner.sunnypilot.$(uname -n)"
+    fi
+  
+    create_service_template
    remount_rw
+    local service_path="/etc/systemd/system/${service_name}"
    echo "Installing systemd service..."
+    if [ -f "${service_path}" ]; then
+        echo "Service ${service_path} found in systemd, we will delete it"
+        sudo rm -f "${service_path}"
+    fi
+    
    cd "$RUNNER_DIR"
    sudo ./svc.sh install $RUNNER_USER

    if [ "$START_AT_BOOT" = false ]; then
-        local service_name
-        if [ -f "${RUNNER_DIR}/.service" ]; then
-            service_name=$(cat "${RUNNER_DIR}/.service")
-        else
-            service_name="actions.runner.sunnypilot.$(uname -n)"
-        fi
        sudo systemctl disable "${service_name}"
    fi
    remount_ro
 }

 check_restore_prerequisites() {
-    local needs_restore=false
    local can_restore=false
    local service_name=""

@@ -189,25 +197,16 @@ check_restore_prerequisites() {
        exit 1
    fi

-    # Then check if restoration is needed (if either service or user is missing)
-    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
-        echo "Service ${service_name} not found in systemd"
-        needs_restore=true
-    fi
-
    if ! id "${RUNNER_USER}" &>/dev/null; then
        echo "User ${RUNNER_USER} does not exist"
-        needs_restore=true
    fi

    # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
-        echo "Restoration is needed and possible"
+    if [ "$can_restore" = true ]; then
+        echo "Restoration is possible"
        return 0
    else
-        if [ "$needs_restore" = false ]; then
-            echo "System is already properly configured (user and service exist)"
-        fi
+        echo "No restoration possible"
        exit 0
    fi
 }
@@ -226,7 +225,6 @@ perform_install() {
    setup_system_configs
    install_runner
    set_directory_permissions
-    create_service_template
    configure_runner
    install_service
    echo "Installation completed successfully"
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fc1f7f31d41f26ea7d6f52b3096f7a91844a3b897bc233a8489253c46f0403b
+size 6324
@@ -17,7 +17,6 @@ from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 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
-from openpilot.selfdrive.controls.lib.latcontrol_angle_torque import LatControlAngleTorque
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -59,9 +58,7 @@ class Controls(ControlsExt):
    self.LoC = LongControl(self.CP)
    self.VM = VehicleModel(self.CP)
    self.LaC: LatControl
-    if self.CP.steerControlType == car.CarParams.SteerControlType.angle and self.CP.lateralTuning.which() == 'torque':
-      self.LaC = LatControlAngleTorque(self.CP, self.CP_SP, self.CI)
-    elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
      self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI)
    elif self.CP.lateralTuning.which() == 'pid':
      self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI)
@@ -96,7 +93,8 @@ class Controls(ControlsExt):
                                           torque_params.frictionCoefficientFiltered)

      self.LaC.extension.update_model_v2(self.sm['modelV2'])
-      self.LaC.extension.update_lateral_lag(self.sm['liveDelay'].lateralDelay)
+      calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
+      self.LaC.extension.update_lateral_lag(calculated_lag)

    long_plan = self.sm['longitudinalPlan']
    model_v2 = self.sm['modelV2']
@@ -1,5 +1,4 @@
 import numpy as np
-from cereal import log
 from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL, DT_MDL

@@ -40,14 +39,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
  return float(new_curvature), limited_accel or limited_max_curv


-def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
-  # ToDo: Try relative error, and absolute speed
-  if len(modelV2.temporalPose.trans):
-    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
-    return float(vel_err)
-  return 0.0
-
-
 def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
  if len(speeds) == len(t_idxs):
    v_now = speeds[0]
@@ -1,13 +0,0 @@
-from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
-from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
-
-
-class LatControlAngleTorque(LatControlTorque, LatControlAngle):
-  def __init__(self, CP, CP_SP, CI):
-    LatControlTorque.__init__(self, CP, CP_SP, CI)
-    LatControlAngle.__init__(self, CP, CP_SP, CI)
-
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
-    torque, _, _ = LatControlTorque.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
-    _, angle, angle_log = LatControlAngle.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
-    return torque, angle, angle_log
@@ -31,7 +31,6 @@ class LatControlTorque(LatControl):
    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
-    self.use_steering_angle = self.torque_params.useSteeringAngle
    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg

    self.extension = LatControlTorqueExt(self, CP, CP_SP)
@@ -47,16 +46,9 @@ class LatControlTorque(LatControl):
      output_torque = 0.0
      pid_log.active = False
    else:
-      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
-      if self.use_steering_angle:
-        actual_curvature = actual_curvature_vm
-        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-      else:
-        assert calibrated_pose is not None
-        actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
-        curvature_deadzone = 0.0
+      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
      desired_lateral_accel = desired_curvature * CS.vEgo ** 2

      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog

@@ -54,6 +54,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
    self.CP = CP
    self.mpc = LongitudinalMpc(dt=dt)
+    # TODO remove mpc modes when TR released
    self.mpc.mode = 'acc'
    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
    self.fcw = False
@@ -63,7 +64,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.a_desired = init_a
    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
    self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
-    self.v_model_error = 0.0
    self.output_a_target = 0.0
    self.output_should_stop = False

@@ -73,12 +73,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.solverExecutionTime = 0.0

  @staticmethod
-  def parse_model(model_msg, model_error):
+  def parse_model(model_msg):
    if (len(model_msg.position.x) == ModelConstants.IDX_N and
      len(model_msg.velocity.x) == ModelConstants.IDX_N and
      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
-      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
-      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
+      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
+      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
      j = np.zeros(len(T_IDXS_MPC))
    else:
@@ -94,9 +94,13 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

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

    if len(sm['carControl'].orientationNED) == 3:
      accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -133,9 +137,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

    # Prevent divergence, smooth in current v_ego
    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    # Compute model v_ego error
-    self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
-    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
+    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'])
    # Don't clip at low speeds since throttle_prob doesn't account for creep
    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED

@@ -171,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

-    if self.mode == 'acc':
+    if self.mode == 'acc' or not self.mlsim:
      output_a_target = output_a_target_mpc
      self.output_should_stop = output_should_stop_mpc
    else:
@@ -157,8 +157,7 @@ class LateralLagEstimator:
               block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
               window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC,
-               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE,
-               enabled: bool = True):
+               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE):
    self.dt = dt
    self.window_sec = window_sec
    self.okay_window_sec = okay_window_sec
@@ -173,7 +172,6 @@ class LateralLagEstimator:
    self.min_confidence = min_confidence
    self.max_lat_accel = max_lat_accel
    self.max_lat_accel_diff = max_lat_accel_diff
-    self.enabled = enabled

    self.t = 0.0
    self.lat_active = False
@@ -208,7 +206,7 @@ class LateralLagEstimator:
    liveDelay = msg.liveDelay

    valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
-    if self.enabled and self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
+    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
      if valid_std > MAX_LAG_STD:
        liveDelay.status = log.LiveDelayData.Status.invalid
      else:
@@ -371,10 +369,7 @@ def main():
  params = Params()
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)

-  # TODO: remove me, lagd is in shadow mode on release
-  is_release = params.get_bool("IsReleaseBranch")
-
-  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency, enabled=not is_release)
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
  if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None:
    lag, valid_blocks = initial_lag_params
    lag_learner.reset(lag, valid_blocks)
@@ -110,19 +110,6 @@ class TestLagd:
        assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
        assert msg.liveDelay.calPerc == 100

-  def test_disabled_estimator(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
-    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, enabled=False)
-    lag_frames = 5
-    process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
-    msg = estimator.get_msg(True)
-    assert msg.liveDelay.status == 'unestimated'
-    assert np.allclose(msg.liveDelay.lateralDelay, 1.0, atol=0.01)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
-    assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
-    assert msg.liveDelay.calPerc == 100
-
  def test_estimator_masking(self):
    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
@@ -11,6 +11,8 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose

+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
 MIN_POINTS_TOTAL = 4000
@@ -49,8 +51,10 @@ class TorqueBuckets(PointBuckets):
        break


-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, LagdToggle):
  def __init__(self, CP, decimated=False, track_all_points=False):
+    super().__init__()
+    self.CP = CP
    self.hist_len = int(HISTORY / DT_MDL)
    self.lag = 0.0
    self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
@@ -176,7 +180,7 @@ class TorqueEstimator(ParameterEstimator):
    elif which == "liveCalibration":
      self.calibrator.feed_live_calib(msg)
    elif which == "liveDelay":
-      self.lag = msg.lateralDelay
+      self.lag = self.lagd_torqued_main(self.CP, msg)
    # calculate lateral accel from past steering torque
    elif which == "livePose":
      if len(self.raw_points['steer_torque']) == self.hist_len:
@@ -56,17 +56,15 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
  tg_compile(flags, model_name)

 # Compile BIG model if USB GPU is available
-import subprocess
-from tinygrad import Device
-
-# because tg doesn't support multi-process
-devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
-if b"AMD" in devs:
-  del Device
-  print("USB GPU detected... building")
-  flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
-  bp = tg_compile(flags, "big_driving_policy")
-  bv = tg_compile(flags, "big_driving_vision")
-  lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
-else:
-  print("USB GPU not detected... skipping")
+if "USBGPU" in os.environ:
+  import subprocess
+  # because tg doesn't support multi-process
+  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
+  if b"AMD" in devs:
+    print("USB GPU detected... building")
+    flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+    bp = tg_compile(flags, "big_driving_policy")
+    bv = tg_compile(flags, "big_driving_vision")
+    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
+  else:
+    print("USB GPU not detected... skipping")
@@ -14,7 +14,6 @@ import pickle
 import ctypes
 import numpy as np
 from pathlib import Path
-from setproctitle import setproctitle

 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -25,7 +24,6 @@ from openpilot.common.transformations.model import dmonitoringmodel_intrinsics,
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
-from openpilot.system import sentry

 MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
@@ -133,12 +131,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts:


 def main():
-  setproctitle(PROCESS_NAME)
  config_realtime_process(7, 5)

-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-
  cl_context = CLContext()
  model = ModelState(cl_context)
  cloudlog.warning("models loaded, dmonitoringmodeld starting")
@@ -180,7 +174,4 @@ if __name__ == "__main__":
  try:
    main()
  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
+    cloudlog.warning("got SIGINT")
@@ -89,13 +89,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)

-  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-
  # poly path
  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

@@ -19,7 +19,6 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
 from pathlib import Path
-from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -29,14 +28,15 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext

+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+

 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -46,8 +46,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'

-LAT_SMOOTH_SECONDS = 0.0
-LONG_SMOOTH_SECONDS = 0.0
+LAT_SMOOTH_SECONDS = 0.1
+LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3


@@ -60,7 +60,11 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                                     action_t=long_action_t)
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)

-    desired_curvature = model_output['desired_curvature'][0, 0]
+    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
+                                                plan[:,Plan.ORIENTATION_RATE][:,2],
+                                                ModelConstants.T_IDXS,
+                                                v_ego,
+                                                lat_action_t)
    if v_ego > MIN_LAT_CONTROL_SPEED:
      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
    else:
@@ -86,6 +90,7 @@ class ModelState:
  prev_desire: np.ndarray  # for tracking the rising edge of the pulse

  def __init__(self, context: CLContext):
+    self.LAT_SMOOTH_SECONDS = 0.0
    with open(VISION_METADATA_PATH, 'rb') as f:
      vision_metadata = pickle.load(f)
      self.vision_input_shapes =  vision_metadata['input_shapes']
@@ -174,7 +179,7 @@ class ModelState:
    # TODO model only uses last value now
    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]

    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
    if SEND_RAW_PRED:
@@ -186,9 +191,6 @@ class ModelState:
 def main(demo=False):
  cloudlog.warning("modeld init")

-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
  if not USBGPU:
    # USB GPU currently saturates a core so can't do this yet,
    # also need to move the aux USB interrupts for good timings
@@ -251,6 +253,8 @@ def main(demo=False):
    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("modeld got CarParams: %s", CP.brand)

+  modeld_lagd = LagdToggle()
+
  # TODO this needs more thought, use .2s extra for now to estimate other delays
  # TODO Move smooth seconds to action function
  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -296,7 +300,7 @@ def main(demo=False):
    is_rhd = sm["driverMonitoringState"].isRHD
    frame_id = sm["roadCameraState"].frameId
    v_ego = max(sm["carState"].vEgo, 0.)
-    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lat_delay = modeld_lagd.lagd_main(CP, sm, model)
    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@@ -374,7 +378,4 @@ if __name__ == "__main__":
    args = parser.parse_args()
    main(demo=args.demo)
  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
+    cloudlog.warning("got SIGINT")
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5f714fb38bcd44b5d9f44e3a8e1595e1dfdf7558f0eec3485cf3f2dbb6dc7d8d
-size 15971805
+oid sha256:1741cad23f6f451782b5db6182218749ee12072e393d57eac36d8d5c55d9358a
+size 15583374
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3ac4867fbc618037e8d03143edbfeeae960f2025644b5dcf36c6665271b4f874
-size 34883375
+oid sha256:3d2bd82ba42341dba1bda5426e45c4c646db604c9ac422156eaa2b9ef26194f9
+size 46265993
@@ -88,6 +88,12 @@ class Parser:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
    return outs
@@ -95,17 +101,10 @@ class Parser:
  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    if 'lat_planner_solution' in outs:
      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
    if 'desired_curvature' in outs:
      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
    return outs

@@ -1 +1 @@
-f440c9e0469d32d350aa99ddaa8f44591a2ce690
+de16c6fbe14e121c5e74cd944ce03a0e4672540d
@@ -7,7 +7,7 @@ from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
 from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.selfdrive.ui.layouts.network import NetworkLayout
 from openpilot.system.ui.lib.widget import Widget
@@ -132,7 +132,7 @@ class SettingsLayout(Widget):
    if panel.instance:
      panel.instance.render(content_rect)

-  def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
    # Check close button
    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
      if self._close_callback:
@@ -22,6 +22,7 @@ DESCRIPTIONS = {
  "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.",
  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
  "IsMetric": "Display speed in km/h instead of mph.",
+  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
 }


@@ -74,6 +75,12 @@ class TogglesLayout(Widget):
        self._params.get_bool("RecordFront"),
        icon="monitoring.png",
      ),
+      toggle_item(
+        "Record Microphone Audio",
+        DESCRIPTIONS["RecordAudio"],
+        self._params.get_bool("RecordAudio"),
+        icon="microphone.png",
+      ),
      toggle_item(
        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png"
      ),
@@ -4,7 +4,7 @@ from dataclasses import dataclass
 from collections.abc import Callable
 from cereal import log
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.widget import Widget

@@ -135,7 +135,7 @@ class Sidebar(Widget):
    else:
      self._panda_status.update("VEHICLE", "ONLINE", Colors.GOOD)

-  def _handle_mouse_release(self, mouse_pos: rl.Vector2):
+  def _handle_mouse_release(self, mouse_pos: MousePos):
    if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN):
      if self._on_settings_click:
        self._on_settings_click()
@@ -68,6 +68,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/monitoring.png",
      true,
    },
+    {
+      "RecordAudio",
+      tr("Record and Upload Microphone Audio"),
+      tr("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
+      "../assets/icons/microphone.png",
+      true,
+    },
    {
      "IsMetric",
      tr("Use Metric System"),
@@ -342,26 +349,22 @@ void DevicePanel::updateCalibDescription() {
    }
  }

-  const bool is_release = params.getBool("IsReleaseBranch");
-  if (!is_release) {
-    int lag_perc = 0;
-    std::string lag_bytes = params.get("LiveDelay");
-    if (!lag_bytes.empty()) {
-      try {
-        AlignedBuffer aligned_buf;
-        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size()));
-        lag_perc = cmsg.getRoot<cereal::Event>().getLiveDelay().getCalPerc();
-      } catch (kj::Exception) {
-        qInfo() << "invalid LiveDelay";
-      }
-    }
-    desc += "\n\n";
-    if (lag_perc < 100) {
-      desc += tr("Steering lag calibration is %1% complete.").arg(lag_perc);
-    } else {
-      desc += tr("Steering lag calibration is complete.");
+  int lag_perc = 0;
+  std::string lag_bytes = params.get("LiveDelay");
+  if (!lag_bytes.empty()) {
+    try {
+      AlignedBuffer aligned_buf;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(lag_bytes.data(), lag_bytes.size()));
+      lag_perc = cmsg.getRoot<cereal::Event>().getLiveDelay().getCalPerc();
+    } catch (kj::Exception) {
+      qInfo() << "invalid LiveDelay";
    }
  }
+  if (lag_perc < 100) {
+    desc += tr("\n\nSteering lag calibration is %1% complete.").arg(lag_perc);
+  } else {
+    desc += tr("\n\nSteering lag calibration is complete.");
+  }

  std::string torque_bytes = params.get("LiveTorqueParameters");
  if (!torque_bytes.empty()) {
@@ -372,11 +375,10 @@ void DevicePanel::updateCalibDescription() {
      // don't add for non-torque cars
      if (torque.getUseParams()) {
        int torque_perc = torque.getCalPerc();
-        desc += is_release ? "\n\n" : " ";
        if (torque_perc < 100) {
-          desc += tr("Steering torque response calibration is %1% complete.").arg(torque_perc);
+          desc += tr(" Steering torque response calibration is %1% complete.").arg(torque_perc);
        } else {
-          desc += tr("Steering torque response calibration is complete.");
+          desc += tr(" Steering torque response calibration is complete.");
        }
      }
    } catch (kj::Exception) {
@@ -24,10 +24,11 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
  p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
 }

-Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
+Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false), mic_indicator_pressed(false) {
  home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
  flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
  settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
+  mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));

  connect(this, &Sidebar::valueChanged, [=] { update(); });

@@ -47,12 +48,15 @@ void Sidebar::mousePressEvent(QMouseEvent *event) {
  } else if (settings_btn.contains(event->pos())) {
    settings_pressed = true;
    update();
+  } else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
+    mic_indicator_pressed = true;
+    update();
  }
 }

 void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
-  if (flag_pressed || settings_pressed) {
-    flag_pressed = settings_pressed = false;
+  if (flag_pressed || settings_pressed || mic_indicator_pressed) {
+    flag_pressed = settings_pressed = mic_indicator_pressed = false;
    update();
  }
  if (onroad && home_btn.contains(event->pos())) {
@@ -61,6 +65,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
    pm->send("userFlag", msg);
  } else if (settings_btn.contains(event->pos())) {
    emit openSettings();
+  } else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
+    emit openSettings(2, "RecordAudio");
  }
 }

@@ -106,6 +112,8 @@ void Sidebar::updateState(const UIState &s) {
    pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
  }
  setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
+
+  setProperty("recordingAudio", s.scene.recording_audio);
 }

 void Sidebar::paintEvent(QPaintEvent *event) {
@@ -124,6 +132,14 @@ void Sidebar::drawSidebar(QPainter &p) {
  p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img);
  p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0);
  p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img);
+  if (recording_audio) {
+    p.setBrush(danger_color);
+    p.setOpacity(mic_indicator_pressed ? 0.65 : 1.0);
+    p.drawRoundedRect(mic_indicator_btn, mic_indicator_btn.height() / 2, mic_indicator_btn.height() / 2);
+    int icon_x = mic_indicator_btn.x() + (mic_indicator_btn.width() - mic_img.width()) / 2;
+    int icon_y = mic_indicator_btn.y() + (mic_indicator_btn.height() - mic_img.height()) / 2;
+    p.drawPixmap(icon_x, icon_y, mic_img);
+  }
  p.setOpacity(1.0);

  // network
@@ -23,6 +23,7 @@ class Sidebar : public QFrame {
  Q_PROPERTY(ItemStatus tempStatus MEMBER temp_status NOTIFY valueChanged);
  Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged);
  Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged);
+  Q_PROPERTY(bool recordingAudio MEMBER recording_audio NOTIFY valueChanged);

 public:
  explicit Sidebar(QWidget* parent = 0);
@@ -42,8 +43,8 @@ protected:
  void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
  virtual void drawSidebar(QPainter &p);

-  QPixmap home_img, flag_img, settings_img;
-  bool onroad, flag_pressed, settings_pressed;
+  QPixmap home_img, flag_img, settings_img, mic_img;
+  bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
  const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
    {cereal::DeviceState::NetworkType::NONE, tr("--")},
    {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")},
@@ -56,6 +57,7 @@ protected:

  const QRect home_btn = QRect(60, 860, 180, 180);
  const QRect settings_btn = QRect(50, 35, 200, 117);
+  const QRect mic_indicator_btn = QRect(158, 252, 75, 40);
  const QColor good_color = QColor(255, 255, 255);
  const QColor warning_color = QColor(218, 202, 37);
  const QColor danger_color = QColor(201, 34, 49);
@@ -139,7 +139,7 @@ class Soundd(QuietMode):
    # sounddevice must be imported after forking processes
    import sounddevice as sd

-    sm = messaging.SubMaster(['selfdriveState', 'microphone'])
+    sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])

    with self.get_stream(sd) as stream:
      rk = Ratekeeper(20)
@@ -150,8 +150,8 @@ class Soundd(QuietMode):

        self.load_param()

-        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
-          self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
+        if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+          self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
          self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))

        self.get_audible_alert(sm)
@@ -46,7 +46,6 @@ lateral_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
-  "sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]

@@ -87,6 +87,17 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
    params.put("DeviceBootMode", QString::number(index).toStdString());
    updateState();
  });
+
+  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
+                                     tr("Apply a custom timeout for settings UI."
+                                        "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
+                                     "", {0, 120}, 10, true, nullptr, false);
+
+  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
+    updateState();
+  });
+
+  addItem(interactivityTimeout);
  
  // Brightness
  brightness = new Brightness();
@@ -198,4 +209,11 @@ void DevicePanelSP::updateState() {
    currStatus = DeviceSleepModeStatus::OFFROAD;
  }
  toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
+
+  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
+  if (timeoutValue == "0") {
+    interactivityTimeout->setLabel("DEFAULT");
+  } else {
+    interactivityTimeout->setLabel(timeoutValue + "s");
+  }
 }
@@ -33,6 +33,7 @@ private:
  MaxTimeOffroad *maxTimeOffroad;
  ButtonParamControlSP *toggleDeviceBootMode;
  Brightness *brightness;
+  OptionControlSP *interactivityTimeout;

  const QString alwaysOffroadStyle = R"(
    PushButtonSP {
@@ -1,87 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-  main_layout->setSpacing(20);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton();
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  auto *list = new ListWidgetSP(this, false);
-
-  main_layout->addWidget(new QWidget());
-
-  enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
-  list->addItem(enableHkgAngleSmoothingFactor);
-
-  auto first_row = new QHBoxLayout();
-  hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
-  connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgTuningOverridingCycles);
-
-  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
-  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgAngleMinTorque);
-  list->addItem(first_row);
-
-  auto second_row = new QHBoxLayout();
-  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
-  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleActiveTorque);
-
-  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
-  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleMaxTorque);
-  list->addItem(second_row);
-  
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-
-  auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
-  warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
-  main_layout->addWidget(warning, 0, Qt::AlignCenter);
-}
-
-void AngleTunningSettings::showEvent(QShowEvent *event) {
-  updateToggles(offroad);
-}
-
-void AngleTunningSettings::updateToggles(bool _offroad) {
-  auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
-  enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
-
-  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
-  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
-
-  auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
-  hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
-
-  auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
-  hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
-
-  auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
-  hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
-
-  offroad = _offroad;
-}
@@ -1,40 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
-
-class AngleTunningSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit AngleTunningSettings(QWidget *parent = nullptr);
-
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-public slots:
-  void updateToggles(bool _offroad);
-
-private:
-  Params params;
-  bool offroad;
-
-  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
-  OptionControlSP* hkgAngleMinTorque;
-  OptionControlSP* hkgAngleActiveTorque;
-  OptionControlSP* hkgAngleMaxTorque;
-  OptionControlSP* hkgTuningOverridingCycles;
-  ParamControlSP* hkgAngleLiveTuning;
-};
@@ -89,36 +89,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
    nnlcToggle->updateToggle();
  });

-#pragma region hkg angle tuning
-  list->addItem(vertical_space());
-  list->addItem(horizontal_line());
-  list->addItem(vertical_space());
-
-  // HKG Angle Tuning
-  // angleTuningToggle = new ParamControl(
-  //   "AngleTuning",
-  //   tr("Modular Assistive Driving System (MADS)"),
-  //   tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
-  //   "");
-  // angleTuningToggle->setConfirmation(true, false);
-  // list->addItem(angleTuningToggle);
-
-  angleTuningSettingsButton = new PushButtonSP(tr("Customize ANGLE Tuning"));
-  angleTuningSettingsButton->setObjectName("angle_btn");
-  connect(angleTuningSettingsButton, &QPushButton::clicked, [=]() {
-    sunnypilotScroller->setLastScrollPosition();
-    main_layout->setCurrentWidget(angleTuningWidget);
-  });
-  // QObject::connect(angleTuningToggle, &ToggleControl::toggleFlipped, angleTuningSettingsButton, &PushButtonSP::setEnabled);
-
-  angleTuningWidget = new AngleTunningSettings(this);
-  connect(angleTuningWidget, &AngleTunningSettings::backPress, [=]() {
-    sunnypilotScroller->restoreScrollPosition();
-    main_layout->setCurrentWidget(sunnypilotScreen);
-  });
-  list->addItem(angleTuningSettingsButton);
-#pragma endregion
-
  toggleOffroadOnly = {
    madsToggle, nnlcToggle,
  };
@@ -129,7 +99,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {

  main_layout->addWidget(sunnypilotScreen);
  main_layout->addWidget(madsWidget);
-  main_layout->addWidget(angleTuningWidget);
  main_layout->addWidget(laneChangeWidget);

  setStyleSheet(R"(
@@ -180,7 +149,6 @@ void LateralPanel::updateToggles(bool _offroad) {
  }

  madsSettingsButton->setEnabled(madsToggle->isToggled());
-  // angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled());

  blinkerPauseLateralSettings->refresh();

@@ -13,7 +13,6 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
@@ -40,11 +39,8 @@ private:
  bool offroad;

  ParamControl *madsToggle;
-  // ParamControl *angleTuningToggle;
  PushButtonSP *madsSettingsButton;
-  PushButtonSP *angleTuningSettingsButton;
  MadsSettings *madsWidget = nullptr;
-  AngleTunningSettings *angleTuningWidget = nullptr;
  PushButtonSP *laneChangeSettingsButton;
  LaneChangeSettings *laneChangeWidget = nullptr;
  NeuralNetworkLateralControl *nnlcToggle = nullptr;
@@ -89,12 +89,34 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {

  list->addItem(horizontal_line());

+  // Dynamic Modeld Outputs toggle
+  dynamicModeldOutputs = new ParamControlSP("DynamicModeldOutputs", tr("Allow Dynamic Model Outputs"),
+                                            tr("Enable this to allow potentially smoother Gas and Brake controls on all models produced "
+                                               "after September, 2024."),
+                                               "../assets/offroad/icon_shell.png");
+  dynamicModeldOutputs->showDescription();
+  list->addItem(dynamicModeldOutputs);
+
  // LiveDelay toggle
-  list->addItem(new ParamControlSP("LagdToggle",
-                                   tr("Live Learning Steer Delay"),
-                                   tr("Enable this for the car to learn and adapt its steering response time. "
-                                      "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."),
-                                   "../assets/offroad/icon_shell.png"));
+  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
+  lagd_toggle_control->showDescription();
+  list->addItem(lagd_toggle_control);
+
+  // Software delay control
+  delay_control = new OptionControlSP("LagdToggledelay", tr("Adjust Software Delay"),
+                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
+                                        "\nThe default software delay value is 0.2"),
+                                     "", {10, 30}, 1, false, nullptr, true);
+
+  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
+    float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+  });
+  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
+    delay_control->setVisible(!state);
+  });
+  delay_control->showDescription();
+  list->addItem(delay_control);
 }

 QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
@@ -290,6 +312,25 @@ void ModelsPanel::updateLabels() {
  handleBundleDownloadProgress();
  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
  currentModelLblBtn->setValue(GetActiveModelInternalName());
+  dynamicModeldOutputs->showDescription();
+
+  // Update lagdToggle description with current value
+  QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
+                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
+                   "The Current value is updated automatically when the vehicle is Onroad.");
+  QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
+  if (!current.isEmpty()) {
+    desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
+  }
+  lagd_toggle_control->setDescription(desc);
+  lagd_toggle_control->showDescription();
+
+  delay_control->setVisible(!params.getBool("LagdToggle"));
+  if (delay_control->isVisible()) {
+    float value = QString::fromStdString(params.get("LagdToggledelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+    delay_control->showDescription();
+  }
 }

 /**
@@ -64,6 +64,9 @@ private:
  bool is_onroad = false;

  ButtonControlSP *currentModelLblBtn;
+  ParamControlSP *dynamicModeldOutputs;
+  ParamControlSP *lagd_toggle_control;
+  OptionControlSP *delay_control;
  QProgressBar *supercomboProgressBar;
  QFrame *supercomboFrame;
  QProgressBar *navigationProgressBar;
@@ -480,6 +480,16 @@ private:
    return result.toInt();
  }

+  int getParamValueScaled() {
+    const auto param_value = QString::fromStdString(params.get(key));
+    return static_cast<int>(param_value.toFloat() * 100);
+  }
+
+  void setParamValueScaled(const int new_value) {
+    const float scaled_value = new_value / 100.0f;
+    params.put(key, QString::number(scaled_value, 'f', 2).toStdString());
+  }
+
  // Although the method is not static, and thus has access to the value property, I prefer to be explicit about the value.
  void setParamValue(const int new_value) {
    const auto value_str = valueMap != nullptr ? valueMap->value(QString::number(new_value)) : QString::number(new_value);
@@ -488,7 +498,8 @@ private:

 public:
  OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false,
+                  const QMap<QString, QString> *valMap = nullptr, bool scale_float = false) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout), use_float_scaling(scale_float) {
    const QString style = R"(
      QPushButton {
        border-radius: 20px;
@@ -528,7 +539,7 @@ public:
    const std::vector<QString> button_texts{"－", "＋"};

    key = param.toStdString();
-    value = getParamValue();
+    value = use_float_scaling ? getParamValueScaled() : getParamValue();

    button_group = new QButtonGroup(this);
    button_group->setExclusive(true);
@@ -546,10 +557,15 @@ public:

      QObject::connect(button, &QPushButton::clicked, [=]() {
        int change_value = (i == 0) ? -per_value_change : per_value_change;
-        value = getParamValue(); // in case it changed externally, we need to get the latest value.
+        value = use_float_scaling ? getParamValueScaled() : getParamValue();
        value += change_value;
        value = std::clamp(value, range.min_value, range.max_value);
-        setParamValue(value);
+
+        if (use_float_scaling) {
+          setParamValueScaled(value);
+        } else {
+          setParamValue(value);
+        }

        button_group->button(0)->setEnabled(!(value <= range.min_value));
        button_group->button(1)->setEnabled(!(value >= range.max_value));
@@ -642,6 +658,7 @@ private:
  const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";

  bool button_enabled = true;
+  bool use_float_scaling = false;
 };

 class PushButtonSP : public QPushButton {
@@ -61,6 +61,9 @@ void update_state(UIState *s) {
    scene.light_sensor = -1;
  }
  scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
+
+  auto params = Params();
+  scene.recording_audio = params.getBool("RecordAudio") && scene.started;
 }

 void ui_update_params(UIState *s) {
@@ -164,8 +167,9 @@ void Device::setAwake(bool on) {
 }

 void Device::resetInteractiveTimeout(int timeout) {
+  int customTimeout = QString::fromStdString(Params().get("InteractivityTimeout")).toInt();
  if (timeout == -1) {
-    timeout = (ignition_on ? 10 : 30);
+    timeout = customTimeout == 0 ? (ignition_on ? 10 : 30) : customTimeout;
  }
  interactive_timeout = timeout * UI_FREQ;
 }
@@ -62,7 +62,7 @@ typedef struct UIScene {
  cereal::LongitudinalPersonality personality;

  float light_sensor = -1;
-  bool started, ignition, is_metric;
+  bool started, ignition, is_metric, recording_audio;
  uint64_t started_frame;
 } UIScene;

@@ -1,12 +1,20 @@
 import pyray as rl
+import numpy as np
 import time
+import threading
 from collections.abc import Callable
 from enum import Enum
 from cereal import messaging, log
+from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params, UnknownKeyName
+from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
+from openpilot.system.ui.lib.application import DEFAULT_FPS
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app

 UI_BORDER_SIZE = 30
+BACKLIGHT_OFFROAD = 50


 class UIStatus(Enum):
@@ -139,10 +147,15 @@ class UIState:
 class Device:
  def __init__(self):
    self._ignition = False
-    self._interaction_time: float = 0.0
+    self._interaction_time: float = -1
    self._interactive_timeout_callbacks: list[Callable] = []
    self._prev_timed_out = False
-    self.reset_interactive_timeout()
+    self._awake = False
+
+    self._offroad_brightness: int = BACKLIGHT_OFFROAD
+    self._last_brightness: int = 0
+    self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / DEFAULT_FPS)
+    self._brightness_thread: threading.Thread | None = None

  def reset_interactive_timeout(self, timeout: int = -1) -> None:
    if timeout == -1:
@@ -153,18 +166,64 @@ class Device:
    self._interactive_timeout_callbacks.append(callback)

  def update(self):
+    # do initial reset
+    if self._interaction_time <= 0:
+      self.reset_interactive_timeout()
+
+    self._update_brightness()
+    self._update_wakefulness()
+
+  def set_offroad_brightness(self, brightness: int):
+    # TODO: not yet used, should be used in prime widget for QR code, etc.
+    self._offroad_brightness = min(max(brightness, 0), 100)
+
+  def _update_brightness(self):
+    clipped_brightness = self._offroad_brightness
+
+    if ui_state.started and ui_state.light_sensor >= 0:
+      clipped_brightness = ui_state.light_sensor
+
+      # CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
+      if clipped_brightness <= 8:
+        clipped_brightness = clipped_brightness / 903.3
+      else:
+        clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
+
+      clipped_brightness = float(np.clip(100 * clipped_brightness, 10, 100))
+
+    brightness = round(self._brightness_filter.update(clipped_brightness))
+    if not self._awake:
+      brightness = 0
+
+    if brightness != self._last_brightness:
+      if self._brightness_thread is None or not self._brightness_thread.is_alive():
+        cloudlog.debug(f"setting display brightness {brightness}")
+        self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
+        self._brightness_thread.start()
+        self._last_brightness = brightness
+
+  def _update_wakefulness(self):
    # Handle interactive timeout
    ignition_just_turned_off = not ui_state.ignition and self._ignition
    self._ignition = ui_state.ignition

-    interaction_timeout = time.monotonic() > self._interaction_time
-    if ignition_just_turned_off or rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
+    if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events):
      self.reset_interactive_timeout()
-    elif interaction_timeout and not self._prev_timed_out:
+
+    interaction_timeout = time.monotonic() > self._interaction_time
+    if interaction_timeout and not self._prev_timed_out:
      for callback in self._interactive_timeout_callbacks:
        callback()
    self._prev_timed_out = interaction_timeout

+    self._set_awake(ui_state.ignition or not interaction_timeout)
+
+  def _set_awake(self, on: bool):
+    if on != self._awake:
+      self._awake = on
+      cloudlog.debug(f"setting display power {int(on)}")
+      HARDWARE.set_display_power(on)
+

 # Global instance
 ui_state = UIState()
@@ -0,0 +1,51 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+class LagdToggle:
+  def __init__(self):
+    self.params = Params()
+    self.lag = 0.0
+    self._last_desc = None
+
+  @property
+  def software_delay(self):
+    return float(self.params.get("LagdToggledelay", encoding='utf8'))
+
+  def _maybe_update_desc(self, desc):
+    if desc != self._last_desc:
+      self.params.put_nonblocking("LagdToggleDesc", desc)
+      self._last_desc = desc
+
+  def lagd_main(self, CP, sm, model):
+    if self.params.get_bool("LagdToggle"):
+      lateral_delay = sm["liveDelay"].lateralDelay
+      lat_smooth = model.LAT_SMOOTH_SECONDS
+      result = lateral_delay + lat_smooth
+      desc = f"live steer delay learner ({lateral_delay:.3f}s) + model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)"
+      self._maybe_update_desc(desc)
+      return result
+
+    steer_actuator_delay = CP.steerActuatorDelay
+    lat_smooth = model.LAT_SMOOTH_SECONDS
+    delay = self.software_delay
+    result = (steer_actuator_delay + delay) + lat_smooth
+    desc = (f"Vehicle steering delay ({steer_actuator_delay:.3f}s) + software delay ({delay:.3f}s) + " +
+            f"model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)")
+    self._maybe_update_desc(desc)
+    return result
+
+  def lagd_torqued_main(self, CP, msg):
+    if self.params.get_bool("LagdToggle"):
+      self.lag = msg.lateralDelay
+      cloudlog.debug(f"TORQUED USING LIVE DELAY: {self.lag:.3f}")
+    else:
+      self.lag = CP.steerActuatorDelay + self.software_delay
+      cloudlog.debug(f"TORQUED USING STEER ACTUATOR: {self.lag:.3f}")
+    return self.lag
@@ -25,7 +25,7 @@ from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
-from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext


@@ -62,7 +62,7 @@ class ModelState:
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
    bundle = get_active_bundle()
    overrides = {override.key: override.value for override in bundle.overrides}
-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))

    model_paths = get_model_path()
@@ -202,7 +202,7 @@ def main(demo=False):

  cloudlog.info("modeld got CarParams: %s", CP.brand)

-  modeld_lagd = ModeldLagd()
+  modeld_lagd = LagdToggle()

  # Enable lagd support for sunnypilot modeld
  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
@@ -10,8 +10,8 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 ConfidenceClass = log.ModelDataV2.ConfidenceClass


-def get_curvature_from_output(output, vego, lat_action_t, current_generation=None):
-  if current_generation != 11:
+def get_curvature_from_output(output, vego, lat_action_t, mlsim):
+  if not mlsim:
    if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
      return float(desired_curv[0, 0])

@@ -23,7 +23,7 @@ from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFr
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants

 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner

 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -54,10 +54,10 @@ class ModelState:
      raise

    model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation
+    self.generation = model_bundle.generation if model_bundle is not None else None
    overrides = {override.key: override.value for override in model_bundle.overrides}

-    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
    self.MIN_LAT_CONTROL_SPEED = 0.3

@@ -86,6 +86,10 @@ class ModelState:
      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
                                  self.numpy_inputs['desire'].shape[2])

+  @property
+  def mlsim(self) -> bool:
+    return bool(self.generation is not None and self.generation >= 11)
+
  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
@@ -151,7 +155,7 @@ class ModelState:
      self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
      self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
      self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
-      if self.generation == 11:
+      if self.mlsim:
        self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
    else:
      length = outputs['desired_curvature'][0].size
@@ -165,7 +169,7 @@ class ModelState:
                                                     action_t=long_action_t)
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)

-    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.generation)
+    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
    if v_ego > self.MIN_LAT_CONTROL_SPEED:
      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
    else:
@@ -239,7 +243,7 @@ def main(demo=False):
  cloudlog.info("modeld got CarParams: %s", CP.brand)


-  modeld_lagd = ModeldLagd()
+  modeld_lagd = LagdToggle()

  # TODO Move smooth seconds to action function
  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
@@ -1,5 +1,7 @@
 import numpy as np
+from openpilot.common.params import Params
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.models.helpers import get_active_bundle


 def safe_exp(x, out=None):
@@ -24,6 +26,9 @@ def softmax(x, axis=-1):
 class Parser:
  def __init__(self, ignore_missing=False):
    self.ignore_missing = ignore_missing
+    self._params = Params()
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None

  def check_missing(self, outs, name):
    if name not in outs and not self.ignore_missing:
@@ -88,37 +93,65 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

+  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if self._params.get_bool("DynamicModeldOutputs") or (self.generation >= 12):
+      if 'lead' in outs:
+        if outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION *SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
+          self.parse_mdn('lead', outs, in_N=0, out_N=0,
+                         out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
+        else:
+          self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
+                         out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
+      if 'plan' in outs:
+        if outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+          self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
+                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+        else:
+          self.parse_mdn('plan', outs, in_N=0, out_N=0,
+                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+    else:
+      if 'lead' in outs:
+        self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
+                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
+      if 'plan' in outs:
+        self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
+                       out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+
  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+    if 'desire_pred' in outs:
+      self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+    if 'desire_state' in outs:
+      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
    if 'lane_lines' in outs:
      self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+                    out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'lane_lines_prob' in outs:
+      self.parse_binary_crossentropy('lane_lines_prob', outs)
+    if 'lead_prob' in outs:
+      self.parse_binary_crossentropy('lead_prob', outs)
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'meta' in outs:
+      self.parse_binary_crossentropy('meta', outs)
+    if 'road_edges' in outs:
      self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
-                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
-      self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
-                     out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
-      if 'sim_pose' in outs:
-        self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
-      for k in ['lead_prob', 'lane_lines_prob']:
-        self.parse_binary_crossentropy(k, outs)
+                    out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))

  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_dynamic_outputs(outs)
    self.split_outputs(outs)
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
    return outs

  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+    self.parse_dynamic_outputs(outs)
    self.split_outputs(outs)
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
    return outs

  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
@@ -19,7 +19,7 @@ from openpilot.system.hardware import PC
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path

-CURRENT_SELECTOR_VERSION = 6
+CURRENT_SELECTOR_VERSION = 7
 REQUIRED_MIN_SELECTOR_VERSION = 5

 USE_ONNX = os.getenv('USE_ONNX', PC)
@@ -1,26 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-
-
-class ModeldLagd:
-  def __init__(self):
-    self.params = Params()
-
-  def lagd_main(self, CP, sm, model):
-    if self.params.get_bool("LagdToggle"):
-      lateral_delay = sm["liveDelay"].lateralDelay
-      lat_smooth = model.LAT_SMOOTH_SECONDS
-      result = lateral_delay + lat_smooth
-      cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}")
-      return result
-    steer_actuator_delay = CP.steerActuatorDelay
-    lat_smooth = model.LAT_SMOOTH_SECONDS
-    result = (steer_actuator_delay + 0.2) + lat_smooth
-    cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}")
-    return result
@@ -1 +1 @@
-71979b29c4bab3007de1a4265442d79f44c0eaef066af66086dddfc432709b94
+61bb1f3077ef8219a44c8c627d5345d1a96e7f859b850bed6215eec91090becb
@@ -1,25 +1,17 @@
 class WMACConstants:
-  LEAD_WINDOW_SIZE = 5
-  LEAD_PROB = 0.5
+  # Lead detection parameters
+  LEAD_WINDOW_SIZE = 6  # Stable detection window
+  LEAD_PROB = 0.45  # Balanced threshold for lead detection

-  SLOW_DOWN_WINDOW_SIZE = 5
-  SLOW_DOWN_PROB = 0.6
+  # Slow down detection parameters
+  SLOW_DOWN_WINDOW_SIZE = 5  # Responsive but stable
+  SLOW_DOWN_PROB = 0.3  # Balanced threshold for slow down scenarios

+  # Optimized slow down distance curve - smooth and progressive
  SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-  SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
+  SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]

-  SLOWNESS_WINDOW_SIZE = 12
-  SLOWNESS_PROB = 0.5
-  SLOWNESS_CRUISE_OFFSET = 1.05
-
-  DANGEROUS_TTC_WINDOW_SIZE = 3
-  DANGEROUS_TTC = 2.3
-
-  MPC_FCW_WINDOW_SIZE = 10
-  MPC_FCW_PROB = 0.5
-
-
-class SNG_State:
-  off = 0
-  stopped = 1
-  going = 2
+  # Slowness detection parameters
+  SLOWNESS_WINDOW_SIZE = 10  # Stable slowness detection
+  SLOWNESS_PROB = 0.55  # Clear threshold for slowness
+  SLOWNESS_CRUISE_OFFSET = 1.025  # Conservative cruise speed offset
@@ -1,88 +1,133 @@
-# The MIT License
-#
-# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-#
-# Version = 2025-1-18
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.

-import numpy as np
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+# Version = 2025-6-30

 from cereal import messaging
 from opendbc.car import structs
 from numpy import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
+from typing import Literal

 # d-e2e, from modeldata.h
 TRAJECTORY_SIZE = 33
+SET_MODE_TIMEOUT = 15

-HIGHWAY_CRUISE_KPH = 70
-
-STOP_AND_GO_FRAME = 60
-
-SET_MODE_TIMEOUT = 10
-
-V_ACC_MIN = 9.72
+# Define the valid mode types
+ModeType = Literal['acc', 'blended']


-class GenericMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.total = 0
+class SmoothKalmanFilter:
+  """Enhanced Kalman filter with smoothing for stable decision making."""

-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.total -= self.data.pop(0)
-    self.data.append(value)
-    self.total += value
+  def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
+               alpha=1.0, smoothing_factor=0.85):
+    self.x = initial_value
+    self.P = 1.0
+    self.R = measurement_noise
+    self.Q = process_noise
+    self.alpha = alpha
+    self.smoothing_factor = smoothing_factor
+    self.initialized = False
+    self.history = []
+    self.max_history = 10
+    self.confidence = 0.0

-  def get_moving_average(self) -> float | None:
-    return None if len(self.data) == 0 else self.total / len(self.data)
+  def add_data(self, measurement):
+    if len(self.history) >= self.max_history:
+      self.history.pop(0)
+    self.history.append(measurement)

-  def reset_data(self) -> None:
-    self.data = []
-    self.total = 0
+    if not self.initialized:
+      self.x = measurement
+      self.initialized = True
+      self.confidence = 0.1
+      return
+
+    self.P = self.alpha * self.P + self.Q
+
+    K = self.P / (self.P + self.R)
+    effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
+
+    innovation = measurement - self.x
+    self.x = self.x + effective_K * innovation
+    self.P = (1 - effective_K) * self.P
+
+    if abs(innovation) < 0.1:
+      self.confidence = min(1.0, self.confidence + 0.05)
+    else:
+      self.confidence = max(0.1, self.confidence - 0.02)
+
+  def get_value(self):
+    return self.x if self.initialized else None
+
+  def get_confidence(self):
+    return self.confidence
+
+  def reset_data(self):
+    self.initialized = False
+    self.history = []
+    self.confidence = 0.0


-class WeightedMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
+class ModeTransitionManager:
+  """Manages smooth transitions between driving modes with hysteresis."""

-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.data.pop(0)
-    self.data.append(value)
+  def __init__(self):
+    self.current_mode: ModeType = 'acc'
+    self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
+    self.transition_timeout = 0
+    self.min_mode_duration = 10
+    self.mode_duration = 0
+    self.emergency_override = False

-  def get_weighted_average(self) -> float | None:
-    if len(self.data) == 0:
-      return None
-    weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
-    weight_total: float = float(np.sum(self.weights[-len(self.data):]))
-    return weighted_sum / weight_total
+  def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
+    # Emergency override for critical situations (stops, collisions)
+    if emergency:
+      self.emergency_override = True
+      self.current_mode = mode
+      self.transition_timeout = SET_MODE_TIMEOUT
+      self.mode_duration = 0
+      return

-  def reset_data(self) -> None:
-    self.data = []
+    self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
+    for m in self.mode_confidence:
+      if m != mode:
+        self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
+
+    # Require minimum duration in current mode (unless emergency)
+    if self.mode_duration < self.min_mode_duration and not self.emergency_override:
+      return
+
+    # Hysteresis: higher threshold for mode changes
+    confidence_threshold = 0.6 if mode != self.current_mode else 0.3  # Lower threshold for faster response
+
+    if self.mode_confidence[mode] > confidence_threshold:
+      if mode != self.current_mode and self.transition_timeout == 0:
+        self.transition_timeout = SET_MODE_TIMEOUT
+        self.current_mode = mode
+        self.mode_duration = 0
+
+  def update(self):
+    if self.transition_timeout > 0:
+      self.transition_timeout -= 1
+    self.mode_duration += 1
+
+    # Reset emergency override after some time
+    if self.emergency_override and self.mode_duration > 20:
+      self.emergency_override = False
+
+    # Gradual confidence decay
+    for mode in self.mode_confidence:
+      self.mode_confidence[mode] *= 0.98
+
+  def get_mode(self) -> ModeType:
+    return self.current_mode


 class DynamicExperimentalController:
@@ -92,51 +137,59 @@ class DynamicExperimentalController:
    self._params = params or Params()
    self._enabled: bool = self._params.get_bool("DynamicExperimentalControl")
    self._active: bool = False
-    self._mode: str = 'acc'
    self._frame: int = 0
+    self._urgency = 0.0

-    # Use weighted moving average for filtering leads
-    self._lead_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.LEAD_WINDOW_SIZE)
+    self._mode_manager = ModeTransitionManager()
+
+    # Smooth filters for stable decision making with faster response for critical scenarios
+    self._lead_filter = SmoothKalmanFilter(
+      measurement_noise=0.15,
+      process_noise=0.05,
+      alpha=1.02,
+      smoothing_factor=0.8
+    )
+
+    self._slow_down_filter = SmoothKalmanFilter(
+      measurement_noise=0.1,
+      process_noise=0.1,
+      alpha=1.05,
+      smoothing_factor=0.7
+    )
+
+    self._slowness_filter = SmoothKalmanFilter(
+      measurement_noise=0.1,
+      process_noise=0.06,
+      alpha=1.015,
+      smoothing_factor=0.92
+    )
+
+    self._mpc_fcw_filter = SmoothKalmanFilter(
+      measurement_noise=0.2,
+      process_noise=0.1,
+      alpha=1.1,
+      smoothing_factor=0.5
+    )
    self._has_lead_filtered = False
-    self._has_lead_filtered_prev = False
-
-    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOW_DOWN_WINDOW_SIZE)
-    self._has_slow_down: bool = False
-    self._slow_down_confidence: float = 0.0
-
-    self._has_blinkers = False
-
-    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOWNESS_WINDOW_SIZE)
-    self._has_slowness: bool = False
-
-    self._has_nav_instruction = False
-
-    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.DANGEROUS_TTC_WINDOW_SIZE)
-    self._has_dangerous_ttc: bool = False
-
-    self._v_ego_kph = 0.
-    self._v_cruise_kph = 0.
-
-    self._has_lead = False
-
+    self._has_slow_down = False
+    self._has_slowness = False
+    self._has_mpc_fcw = False
+    self._v_ego_kph = 0.0
+    self._v_cruise_kph = 0.0
    self._has_standstill = False
-    self._has_standstill_prev = False
-
-    self._sng_transit_frame = 0
-    self._sng_state = SNG_State.off
-
-    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.MPC_FCW_WINDOW_SIZE)
-    self._has_mpc_fcw: bool = False
    self._mpc_fcw_crash_cnt = 0
-
-    self._set_mode_timeout = 0
+    self._standstill_count = 0
+    # debug
+    self._endpoint_x = float('inf')
+    self._expected_distance = 0.0
+    self._trajectory_valid = False

  def _read_params(self) -> None:
    if self._frame % int(1. / DT_MDL) == 0:
      self._enabled = self._params.get_bool("DynamicExperimentalControl")

  def mode(self) -> str:
-    return str(self._mode)
+    return self._mode_manager.get_mode()

  def enabled(self) -> bool:
    return self._enabled
@@ -144,46 +197,9 @@ class DynamicExperimentalController:
  def active(self) -> bool:
    return self._active

-  @staticmethod
-  def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
-    """
-    Basic anomaly detection using standard deviation.
-    """
-    if len(recent_data) < 5:
-      return False
-    mean: float = float(np.mean(recent_data))
-    std_dev: float = float(np.std(recent_data))
-    anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
-
-    # Context check to ensure repeated anomaly
-    if context_check:
-      return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
-    return anomaly
-
-  def _adaptive_slowdown_threshold(self) -> float:
-    """
-    Adapts the slow-down threshold based on vehicle speed and recent behavior.
-    """
-    slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
-    adaptive_threshold: float = float(
-      interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
-    )
-    return adaptive_threshold
-
-  def _smoothed_lead_detection(self, lead_prob: float, smoothing_factor: float = 0.2):
-    """
-    Smoothing the lead detection to avoid erratic behavior.
-    """
-    lead_filtering: float = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
-    return lead_filtering > WMACConstants.LEAD_PROB
-
-  def _adaptive_lead_prob_threshold(self) -> float:
-    """
-    Adapts lead probability threshold based on driving conditions.
-    """
-    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
-      return float(WMACConstants.LEAD_PROB + 0.1)  # Increase the threshold on highways
-    return float(WMACConstants.LEAD_PROB)
+  def set_mpc_fcw_crash_cnt(self) -> None:
+    """Set MPC FCW crash count"""
+    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt

  def _update_calculations(self, sm: messaging.SubMaster) -> None:
    car_state = sm['carState']
@@ -192,186 +208,168 @@ class DynamicExperimentalController:

    self._v_ego_kph = car_state.vEgo * 3.6
    self._v_cruise_kph = car_state.vCruise
-    self._has_lead = lead_one.status
    self._has_standstill = car_state.standstill

-    # fcw detection
-    self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
-    if _mpc_fcw_weighted_average := self._mpc_fcw_gmac.get_weighted_average():
-      self._has_mpc_fcw = _mpc_fcw_weighted_average > WMACConstants.MPC_FCW_PROB
-    else:
-      self._has_mpc_fcw = False
-
-    # nav enable detection
-    # self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
-
-    # lead detection with smoothing
-    self._lead_gmac.add_data(lead_one.status)
-    self._has_lead_filtered = (self._lead_gmac.get_weighted_average() or -1.) > WMACConstants.LEAD_PROB
-    #lead_prob = self._lead_gmac.get_weighted_average() or 0
-    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
-
-    # adaptive slow down detection
-    adaptive_threshold = self._adaptive_slowdown_threshold()
-    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
-    self._slow_down_gmac.add_data(slow_down_trigger)
-    if _has_slow_down_weighted_average := self._slow_down_gmac.get_weighted_average():
-      self._has_slow_down = _has_slow_down_weighted_average > WMACConstants.SLOW_DOWN_PROB
-      self._slow_down_confidence = _has_slow_down_weighted_average  # Store confidence level
-    else:
-      self._has_slow_down = False
-      self._slow_down_confidence = 0.0  # No confidence if no slowdown
-
-    # anomaly detection for slow down events
-    if self._anomaly_detection(self._slow_down_gmac.data):
-      self._slow_down_confidence *= 0.85  # Reduce confidence
-      self._has_slow_down = self._slow_down_confidence > WMACConstants.SLOW_DOWN_PROB
-
-    # blinker detection
-    self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
-
-    # sng detection
+    # standstill detection
    if self._has_standstill:
-      self._sng_state = SNG_State.stopped
-      self._sng_transit_frame = 0
+      self._standstill_count = min(20, self._standstill_count + 1)
    else:
-      if self._sng_transit_frame == 0:
-        if self._sng_state == SNG_State.stopped:
-          self._sng_state = SNG_State.going
-          self._sng_transit_frame = STOP_AND_GO_FRAME
-        elif self._sng_state == SNG_State.going:
-          self._sng_state = SNG_State.off
-      elif self._sng_transit_frame > 0:
-        self._sng_transit_frame -= 1
+      self._standstill_count = max(0, self._standstill_count - 1)

-    # slowness detection
-    if not self._has_standstill:
-      self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
-      if _slowness_weighted_average := self._slowness_gmac.get_weighted_average():
-        self._has_slowness = _slowness_weighted_average > WMACConstants.SLOWNESS_PROB
-      else:
-        self._has_slowness = False
+    # Lead detection
+    self._lead_filter.add_data(float(lead_one.status))
+    lead_value = self._lead_filter.get_value() or 0.0
+    self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB

-    # dangerous TTC detection
-    if not self._has_lead_filtered and self._has_lead_filtered_prev:
-      self._dangerous_ttc_gmac.reset_data()
-      self._has_dangerous_ttc = False
+    # MPC FCW detection
+    fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
+    self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
+    self._has_mpc_fcw = fcw_filtered_value > 0.5

-    if self._has_lead and car_state.vEgo >= 0.01:
-      self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
+    # Slow down detection
+    self._calculate_slow_down(md)

-    if _dangerous_ttc_weighted_average := self._dangerous_ttc_gmac.get_weighted_average():
-      self._has_dangerous_ttc = _dangerous_ttc_weighted_average <= WMACConstants.DANGEROUS_TTC
-    else:
-      self._has_dangerous_ttc = False
+    # Slowness detection
+    if not (self._standstill_count > 5) and not self._has_slow_down:
+      current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
+      self._slowness_filter.add_data(current_slowness)
+      slowness_value = self._slowness_filter.get_value() or 0.0

-    # keep prev values
-    self._has_standstill_prev = self._has_standstill
-    self._has_lead_filtered_prev = self._has_lead_filtered
+      # Hysteresis for slowness
+      threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
+      self._has_slowness = slowness_value > threshold
+
+  def _calculate_slow_down(self, md):
+    """Calculate urgency based on trajectory endpoint vs expected distance."""
+
+    # Reset to safe defaults
+    urgency = 0.0
+    self._endpoint_x = float('inf')
+    self._trajectory_valid = False
+
+    #Require exact trajectory size
+    position_valid = len(md.position.x) == TRAJECTORY_SIZE
+    orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
+
+    if not (position_valid and orientation_valid):
+      # Invalid trajectory - this itself might indicate a stop scenario
+      # Apply moderate urgency for incomplete trajectories at speed
+      if self._v_ego_kph > 20.0:
+        urgency = 0.3
+
+      self._slow_down_filter.add_data(urgency)
+      urgency_filtered = self._slow_down_filter.get_value() or 0.0
+      self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
+      self._urgency = urgency_filtered
+      return
+
+    # We have a valid full trajectory
+    self._trajectory_valid = True
+
+    # Use the exact endpoint (33rd point, index 32)
+    endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
+    self._endpoint_x = endpoint_x
+
+    # Get expected distance based on current speed using tuned constants
+    expected_distance = interp(self._v_ego_kph,
+                               WMACConstants.SLOW_DOWN_BP,
+                               WMACConstants.SLOW_DOWN_DIST)
+    self._expected_distance = expected_distance
+
+    # Calculate urgency based on trajectory shortage
+    if endpoint_x < expected_distance:
+      shortage = expected_distance - endpoint_x
+      shortage_ratio = shortage / expected_distance
+
+      # Base urgency on shortage ratio
+      urgency = min(1.0, shortage_ratio * 2.0)
+
+      # Increase urgency for very short trajectories (imminent stops)
+      critical_distance = expected_distance * 0.3
+      if endpoint_x < critical_distance:
+        urgency = min(1.0, urgency * 2.0)
+
+      # Speed-based urgency adjustment
+      if self._v_ego_kph > 25.0:
+        speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
+        urgency = min(1.0, urgency * speed_factor)
+
+    # Apply filtering but with less smoothing for stops
+    self._slow_down_filter.add_data(urgency)
+    urgency_filtered = self._slow_down_filter.get_value() or 0.0
+
+    # Update state with lower threshold for better stop detection
+    self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
+    self._urgency = urgency_filtered

  def _radarless_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
+    """Radarless mode decision logic with emergency handling."""
+
+    # EMERGENCY: MPC FCW - immediate blended mode
    if self._has_mpc_fcw:
-      self._set_mode('blended')
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
      return

-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
-
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when at highway cruise and SNG: blended
-    # ensuring blended mode is used because acc is bad at catching SNG lead car
-    # especially those who accel very fast and then brake very hard.
-    # if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
      return

-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
    if self._has_slow_down:
-      self._set_mode('blended')
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.5)
+        self._mode_manager.request_mode('blended', confidence=confidence)
      return

-    # when detecting lead slow down: blended
-    # use blended for higher braking capability
-    if self._has_dangerous_ttc:
-      self._set_mode('blended')
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
      return

-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
-      return
-
-    self._set_mode('acc')
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)

  def _radar_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
+    """Radar mode with emergency handling."""
+
+    # EMERGENCY: MPC FCW - immediate blended mode
    if self._has_mpc_fcw:
-      self._set_mode('blended')
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
      return

-    # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
-    if self._has_lead_filtered and not self._has_standstill:
-      self._set_mode('acc')
+    # If lead detected and not in standstill: always use ACC
+    if self._has_lead_filtered and not (self._standstill_count > 3):
+      self._mode_manager.request_mode('acc', confidence=1.0)
      return

-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
-      return
-
-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
    if self._has_slow_down:
-      self._set_mode('blended')
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.3)
+        self._mode_manager.request_mode('blended', confidence=confidence)
      return

-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
      return

-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
+      return

-    self._set_mode('acc')
-
-  def set_mpc_fcw_crash_cnt(self) -> None:
-    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
-
-  def _set_mode(self, mode: str) -> None:
-    if self._set_mode_timeout == 0:
-      self._mode = mode
-      if mode == 'blended':
-        self._set_mode_timeout = SET_MODE_TIMEOUT
-
-    if self._set_mode_timeout > 0:
-      self._set_mode_timeout -= 1
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)

  def update(self, sm: messaging.SubMaster) -> None:
    self._read_params()
@@ -385,6 +383,6 @@ class DynamicExperimentalController:
    else:
      self._radar_mode()

+    self._mode_manager.update()
    self._active = sm['selfdriveState'].experimentalMode and self._enabled
-
    self._frame += 1
@@ -1,248 +1,94 @@
 import pytest
-import numpy as np
-from openpilot.common.params import Params

-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, TRAJECTORY_SIZE, STOP_AND_GO_FRAME
-
-class MockInterp:
-  def __call__(self, x, xp, fp):
-    return np.interp(x, xp, fp)
-
-class MockCarState:
-  def __init__(self, v_ego=0., standstill=False, left_blinker=False, right_blinker=False):
-    self.vEgo = v_ego
-    self.standstill = standstill
-    self.leftBlinker = left_blinker
-    self.rightBlinker = right_blinker
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController

 class MockLeadOne:
-  def __init__(self, status=False, d_rel=0):
+  def __init__(self, status=0.0):
    self.status = status
-    self.dRel = d_rel
+
+class MockRadarState:
+  def __init__(self, status=0.0):
+    self.leadOne = MockLeadOne(status=status)
+
+class MockCarState:
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
+    self.standstill = standstill

 class MockModelData:
-  def __init__(self, x_vals=None, positions=None):
-    self.orientation = type('Orientation', (), {'x': x_vals})()
-    self.position = type('Position', (), {'x': positions})()
+  def __init__(self, valid=True):
+    size = 33 if valid else 10  # incomplete if invalid
+    self.position = type("Pos", (), {"x": [0.0] * size})()
+    self.orientation = type("Ori", (), {"x": [0.0] * size})()

-class MockControlState:
-  def __init__(self, v_cruise=0):
-    self.vCruise = v_cruise
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
+
+class MockParams:
+  def get_bool(self, name):
+    return True

@pytest.fixture
-def interp(monkeypatch):
-  mock_interp = MockInterp()
-  monkeypatch.setattr('numpy.interp', mock_interp)
-  return mock_interp
+def default_sm():
+  sm = {
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+    'radarState': MockRadarState(status=1.0),
+    'modelV2': MockModelData(valid=True),
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
+  }
+  return sm

@pytest.fixture
-def controller(interp):
-  params = Params()
-  params.put_bool("DynamicExperimentalControl", True)
-  return DynamicExperimentalController()
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()

-def test_initial_state(controller):
-  """Test initial state of the controller"""
-  assert controller._mode == 'acc'
-  assert not controller._has_lead
-  assert not controller._has_standstill
-  assert controller._sng_state == SNG_State.off
-  assert not controller._has_lead_filtered
-  assert not controller._has_slow_down
-  assert not controller._has_dangerous_ttc
-  assert not controller._has_mpc_fcw
+@pytest.fixture
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+  return MPC()

-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_standstill_detection(controller, has_radar):
-  """Test standstill detection and state transitions"""
-  car_state = MockCarState(standstill=True)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState()
+# Fake Kalman Filter that always returns a given value
+class FakeKalman:
+  def __init__(self, value=1.0):
+    self.value = value
+  def add_data(self, v): pass
+  def get_value(self): return self.value
+  def get_confidence(self): return 1.0
+  def reset_data(self): pass

-  # Test transition to standstill
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.stopped
-  assert controller.get_mpc_mode() == 'blended'
+def test_initial_mode_is_acc(mock_cp, mock_mpc):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  assert controller.mode() == "acc"

-  # Test transition from standstill to moving
-  car_state.standstill = False
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.going
+def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['carState'].standstill = True
+  for _ in range(10):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"

-  # Test complete transition to normal driving
-  for _ in range(STOP_AND_GO_FRAME + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.off
+def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  mock_mpc.crash_cnt = 1  # simulate FCW
+  for _ in range(2):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"

-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_lead_detection(controller, has_radar):
-  """Test lead vehicle detection and filtering"""
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)  # Safe distance
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
+def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())

-  # Let moving average stabilize
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  # Force conditions to simulate slowdown
+  controller._slow_down_filter = FakeKalman(value=1.0)  # Ensure urgency triggers slowdown
+  controller._v_ego_kph = 35.0
+  default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory

-  assert controller._has_lead_filtered
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode
+  for _ in range(3):
+    controller.update(default_sm)

-  # Test lead loss detection
-  lead_one.status = False
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_lead_filtered
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_slow_down_detection(controller, has_radar):
-  """Test slow down detection based on trajectory"""
-  car_state = MockCarState(v_ego=10/3.6)  # 10 kph
-  lead_one = MockLeadOne()
-  x_vals = [0] * TRAJECTORY_SIZE
-  positions = [20] * TRAJECTORY_SIZE  # Position within slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  controls_state = MockControlState(v_cruise=30)
-
-  # Test slow down detection
-  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_slow_down
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test slow down recovery
-  positions = [200] * TRAJECTORY_SIZE  # Position outside slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_slow_down
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_dangerous_ttc_detection(controller, has_radar):
-  """Test Time-To-Collision detection and handling"""
-  car_state = MockCarState(v_ego=10)  # 36 kph
-  lead_one = MockLeadOne(status=True)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=36)
-
-  # First establish normal conditions with lead
-  lead_one.dRel = 100  # Safe distance
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):  # First establish lead detection
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now test dangerous TTC detection
-  lead_one.dRel = 10  # 10m distance - should trigger dangerous TTC
-  # TTC = dRel/vEgo = 10/10 = 1s (which is less than DANGEROUS_TTC = 2.3s)
-
-  # Need to update multiple times to allow the weighted average to stabilize
-  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "TTC of 1s should be considered dangerous"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mode_transitions(controller, has_radar):
-  """Test comprehensive mode transitions under different conditions"""
-  # Initialize with normal driving conditions
-  car_state = MockCarState(v_ego=25)  # 90 kph
-  lead_one = MockLeadOne(status=False)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  def stabilize_filters():
-    """Helper to let all moving averages stabilize"""
-    for _ in range(max(WMACConstants.LEAD_WINDOW_SIZE, WMACConstants.SLOW_DOWN_WINDOW_SIZE,
-                       WMACConstants.DANGEROUS_TTC_WINDOW_SIZE, WMACConstants.MPC_FCW_WINDOW_SIZE) + 1):
-      controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  # Test 1: Normal driving -> ACC mode
-  stabilize_filters()
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode under normal driving conditions"
-
-  # Test 2: Standstill -> Blended mode
-  car_state.standstill = True
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
-
-  # Test 3: Lead car appears -> ACC mode
-  car_state = MockCarState(v_ego=20)  # Reset car state
-  lead_one.status = True
-  lead_one.dRel = 50  # Safe distance
-  stabilize_filters()
-  assert not controller._has_dangerous_ttc, "Should not have dangerous TTC"
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
-
-  # Test 4: Dangerous TTC -> Blended mode
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one.status = True
-  lead_one.dRel = 50  # First establish normal lead detection
-
-  # First establish lead detection
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now create dangerous TTC condition
-  lead_one.dRel = 20  # This creates a TTC of 1s, well below DANGEROUS_TTC
-
-  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mpc_fcw_handling(controller, has_radar):
-  """Test MPC FCW crash count handling and mode transitions"""
-  car_state = MockCarState(v_ego=20)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
-
-  # Test FCW activation
-  controller.set_mpc_fcw_crash_cnt(5)
-  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_mpc_fcw
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test FCW recovery
-  controller.set_mpc_fcw_crash_cnt(0)
-  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_mpc_fcw
-
-def test_radar_unavailable_handling(controller):
-  """Test behavior transitions between radar available and unavailable states"""
-  car_state = MockCarState(v_ego=27.78)  # 100 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  # Test with radar available
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(False, car_state, lead_one, md, controls_state)
-  radar_mode = controller.get_mpc_mode()
-
-  # Test with radar unavailable
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(True, car_state, lead_one, md, controls_state)
-  radarless_mode = controller.get_mpc_mode()
-
-  assert radar_mode is not None
-  assert radarless_mode is not None
+  assert controller.mode() == "blended"
@@ -10,6 +10,8 @@ import numpy as np
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants

+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+
 LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan

@@ -41,11 +43,13 @@ def get_lookahead_value(future_vals, current_val):
  return min_val


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

    self.actual_lateral_jerk: float = 0.0
    self.lateral_jerk_setpoint: float = 0.0
@@ -53,7 +57,6 @@ class LatControlTorqueExtBase:
    self.lookahead_lateral_jerk: float = 0.0

    self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
-    self.torque_params = lac_torque.torque_params

    self._ff = 0.0
    self._pid_log = None
@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
 from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.models.helpers import get_active_bundle

 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState

@@ -15,6 +16,12 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen
 class LongitudinalPlannerSP:
  def __init__(self, CP: structs.CarParams, mpc):
    self.dec = DynamicExperimentalController(CP, mpc)
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None
+
+  @property
+  def mlsim(self) -> bool:
+    return bool(self.generation is not None and self.generation >= 11)

  def get_mpc_mode(self) -> str | None:
    if not self.dec.active():
@@ -22,14 +22,16 @@ class ParamStore:

    self.keys = universal_params + brand_params
    self.values = {}
+    self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None

  def update(self, params: Params) -> None:
+    old_values = dict(self.values)
    self.values = {k: params.get(k, encoding='utf8') or "0" for k in self.keys}
+    if old_values != self.values:
+      self.cached_params_list = None

  def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
-    params_list: list[capnp.lib.capnp._DynamicStructBuilder] = []
-
-    for k in self.keys:
-      params_list.append(custom.CarControlSP.Param(key=k, value=self.values[k]))
-
-    return params_list
+    if self.cached_params_list is None:
+      # TODO-SP: Why are we doing a list instead of a dictionary here?
+      self.cached_params_list = [custom.CarControlSP.Param(key=k, value=self.values[k]) for k in self.keys]
+    return self.cached_params_list
@@ -23,6 +23,7 @@ from typing import cast
 from collections.abc import Callable

 import requests
+from requests.adapters import HTTPAdapter, DEFAULT_POOLBLOCK
 from jsonrpc import JSONRPCResponseManager, dispatcher
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                       create_connection)
@@ -56,6 +57,11 @@ WS_FRAME_SIZE = 4096
 DEVICE_STATE_UPDATE_INTERVAL = 1.0  # in seconds
 DEFAULT_UPLOAD_PRIORITY = 99  # higher number = lower priority

+# https://bytesolutions.com/dscp-tos-cos-precedence-conversion-chart,
+# https://en.wikipedia.org/wiki/Differentiated_services
+UPLOAD_TOS = 0x20  # CS1, low priority background traffic
+SSH_TOS = 0x90  # AF42, DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
+
 NetworkType = log.DeviceState.NetworkType

 UploadFileDict = dict[str, str | int | float | bool]
@@ -64,6 +70,17 @@ UploadItemDict = dict[str, str | bool | int | float | dict[str, str]]
 UploadFilesToUrlResponse = dict[str, int | list[UploadItemDict] | list[str]]


+class UploadTOSAdapter(HTTPAdapter):
+  def init_poolmanager(self, connections, maxsize, block=DEFAULT_POOLBLOCK, **pool_kwargs):
+    pool_kwargs["socket_options"] = [(socket.IPPROTO_IP, socket.IP_TOS, UPLOAD_TOS)]
+    super().init_poolmanager(connections, maxsize, block, **pool_kwargs)
+
+
+UPLOAD_SESS = requests.Session()
+UPLOAD_SESS.mount("http://", UploadTOSAdapter())
+UPLOAD_SESS.mount("https://", UploadTOSAdapter())
+
+
@dataclass
 class UploadFile:
  fn: str
@@ -311,10 +328,10 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R
  stream = None
  try:
    stream, content_length = get_upload_stream(path, compress)
-    response = requests.put(upload_item.url,
-                            data=CallbackReader(stream, callback, content_length) if callback else stream,
-                            headers={**upload_item.headers, 'Content-Length': str(content_length)},
-                            timeout=30)
+    response = UPLOAD_SESS.put(upload_item.url,
+                               data=CallbackReader(stream, callback, content_length) if callback else stream,
+                               headers={**upload_item.headers, 'Content-Length': str(content_length)},
+                               timeout=30)
    return response
  finally:
    if stream:
@@ -501,8 +518,7 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
      raise Exception("Requested local port not whitelisted")

    # Set TOS to keep connection responsive while under load.
-    # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
-    ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)
+    ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, SSH_TOS)

    ssock, csock = socket.socketpair()
    local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
@@ -19,7 +19,7 @@ from cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
-from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher
+from openpilot.system.athena.athenad import MAX_RETRY_COUNT, UPLOAD_SESS, dispatcher
 from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
 from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.system.hardware.hw import Paths
@@ -29,7 +29,7 @@ def seed_athena_server(host, port):
  with Timeout(2, 'HTTP Server seeding failed'):
    while True:
      try:
-        requests.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
+        UPLOAD_SESS.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
        break
      except requests.exceptions.ConnectionError:
        time.sleep(0.1)
@@ -239,7 +239,7 @@ class TestAthenadMethods:
  @pytest.mark.parametrize("status,retry", [(500,True), (412,False)])
  @with_upload_handler
  def test_upload_handler_retry(self, mocker, host, status, retry):
-    mock_put = mocker.patch('requests.put')
+    mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put')
    mock_put.return_value.__enter__.return_value.status_code = status
    fn = self._create_file('qlog.zst')
    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
@@ -415,8 +415,8 @@ class Tici(HardwareBase):

    # *** GPU config ***
    # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
-    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
-    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
@@ -62,6 +62,7 @@ struct RemoteEncoder {
  bool recording = false;
  bool marked_ready_to_rotate = false;
  bool seen_first_packet = false;
+  bool audio_initialized = false;
 };

 size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) {
@@ -78,12 +79,7 @@ size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEnc
        LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames);
        re.dropped_frames = 0;
      }
-      // if we aren't actually recording, don't create the writer
      if (encoder_info.record) {
-        assert(encoder_info.filename != NULL);
-        re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
-                                        encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-                                        edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
        // write the header
        auto header = edata.getHeader();
        re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false);
@@ -138,12 +134,19 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct

    // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets
    if (re.current_segment != s->logger.segment()) {
-      if (re.recording) {
-        re.writer.reset();
+      // if we aren't actually recording, don't create the writer
+      if (encoder_info.record) {
+        assert(encoder_info.filename != NULL);
+        re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
+                                        encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
+                                        edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
        re.recording = false;
+        re.audio_initialized = false;
      }
      re.current_segment = s->logger.segment();
      re.marked_ready_to_rotate = false;
+    }
+    if (re.audio_initialized || !encoder_info.include_audio) {
      // we are in this segment now, process any queued messages before this one
      if (!re.q.empty()) {
        for (auto qmsg : re.q) {
@@ -153,9 +156,14 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
        }
        re.q.clear();
      }
+      bytes_count += write_encode_data(s, event, re, encoder_info);
+      delete msg;
+    } else if (re.q.size() > MAIN_FPS*10) {
+      LOGE_100("%s: dropping frame waiting for audio initialization, queue is too large", name.c_str());
+      delete msg;
+    } else {
+      re.q.push_back(msg); // queue up all the new segment messages, they go in after audio is initialized
    }
-    bytes_count += write_encode_data(s, event, re, encoder_info);
-    delete msg;
  } else if (offset_segment_num > s->logger.segment()) {
    // encoderd packet has a newer segment, this means encoderd has rolled over
    if (!re.marked_ready_to_rotate) {
@@ -214,7 +222,7 @@ void loggerd_thread() {
  typedef struct ServiceState {
    std::string name;
    int counter, freq;
-    bool encoder, user_flag;
+    bool encoder, user_flag, record_audio;
  } ServiceState;
  std::unordered_map<SubSocket*, ServiceState> service_state;
  std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;
@@ -226,19 +234,22 @@ void loggerd_thread() {
  for (const auto& [_, it] : services) {
    const bool encoder = util::ends_with(it.name, "EncodeData");
    const bool livestream_encoder = util::starts_with(it.name, "livestream");
-    if (!it.should_log && (!encoder || livestream_encoder)) continue;
-    LOGD("logging %s", it.name.c_str());
+    const bool record_audio = (it.name == "rawAudioData") && Params().getBool("RecordAudio");
+    if (it.should_log || (encoder && !livestream_encoder) || record_audio) {
+      LOGD("logging %s", it.name.c_str());

-    SubSocket * sock = SubSocket::create(ctx.get(), it.name);
-    assert(sock != NULL);
-    poller->registerSocket(sock);
-    service_state[sock] = {
-      .name = it.name,
-      .counter = 0,
-      .freq = it.decimation,
-      .encoder = encoder,
-      .user_flag = it.name == "userFlag",
-    };
+      SubSocket * sock = SubSocket::create(ctx.get(), it.name);
+      assert(sock != NULL);
+      poller->registerSocket(sock);
+      service_state[sock] = {
+        .name = it.name,
+        .counter = 0,
+        .freq = it.decimation,
+        .encoder = encoder,
+        .user_flag = it.name == "userFlag",
+        .record_audio = record_audio,
+      };
+    }
  }

  LoggerdState s;
@@ -247,6 +258,7 @@ void loggerd_thread() {
  Params().put("CurrentRoute", s.logger.routeName());

  std::map<std::string, EncoderInfo> encoder_infos_dict;
+  std::vector<RemoteEncoder*> encoders_with_audio;
  for (const auto &cam : cameras_logged) {
    for (const auto &encoder_info : cam.encoder_infos) {
      encoder_infos_dict[encoder_info.publish_name] = encoder_info;
@@ -254,6 +266,13 @@ void loggerd_thread() {
    }
  }

+  for (auto &[sock, service] : service_state) {
+    auto it = encoder_infos_dict.find(service.name);
+    if (it != encoder_infos_dict.end() && it->second.include_audio) {
+      encoders_with_audio.push_back(&remote_encoders[sock]);
+    }
+  }
+
  uint64_t msg_count = 0, bytes_count = 0;
  double start_ts = millis_since_boot();
  while (!do_exit) {
@@ -271,6 +290,20 @@ void loggerd_thread() {
      Message *msg = nullptr;
      while (!do_exit && (msg = sock->receive(true))) {
        const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
+
+        if (service.record_audio) {
+          capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
+          auto event = cmsg.getRoot<cereal::Event>();
+          auto audio_data = event.getRawAudioData().getData();
+          auto sample_rate = event.getRawAudioData().getSampleRate();
+          for (auto* encoder : encoders_with_audio) {
+            if (encoder && encoder->writer) {
+              encoder->writer->write_audio((uint8_t*)audio_data.begin(), audio_data.size(), event.getLogMonoTime() / 1000, sample_rate);
+              encoder->audio_initialized = true;
+            }
+          }
+        }
+
        if (service.encoder) {
          s.last_camera_seen_tms = millis_since_boot();
          bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
@@ -35,6 +35,7 @@ public:
  const char *thumbnail_name = NULL;
  const char *filename = NULL;
  bool record = true;
+  bool include_audio = false;
  int frame_width = -1;
  int frame_height = -1;
  int fps = MAIN_FPS;
@@ -106,6 +107,7 @@ const EncoderInfo qcam_encoder_info = {
  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
  .frame_width = 526,
  .frame_height = 330,
+  .include_audio = Params().getBool("RecordAudio"),
  INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };

@@ -97,6 +97,50 @@ class TestLoggerd:

    return sent_msgs

+  def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5):
+    d = DEVICE_CAMERAS[("tici", "ar0231")]
+    streams = [
+      (VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048 * 2346, 2048, 2048 * 1216), "roadCameraState"),
+      (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048 * 2346, 2048, 2048 * 1216), "driverCameraState"),
+      (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048 * 2346, 2048, 2048 * 1216), "wideRoadCameraState"),
+    ]
+
+    pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
+    vipc_server = VisionIpcServer("camerad")
+    for stream_type, frame_spec, _ in streams:
+      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
+    vipc_server.start_listener()
+
+    os.environ["LOGGERD_TEST"] = "1"
+    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length)
+    managed_processes["loggerd"].start()
+    managed_processes["encoderd"].start()
+    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
+
+    fps = 20
+    for n in range(1, int(num_segs * segment_length * fps) + 1):
+      # send video
+      for stream_type, frame_spec, state in streams:
+        dat = np.empty(frame_spec[2], dtype=np.uint8)
+        vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n / fps, n / fps)
+
+        camera_state = messaging.new_message(state)
+        frame = getattr(camera_state, state)
+        frame.frameId = n
+        pm.send(state, camera_state)
+
+      # send audio
+      msg = messaging.new_message('rawAudioData')
+      msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16
+      msg.rawAudioData.sampleRate = 16000
+      pm.send('rawAudioData', msg)
+
+      for _, _, state in streams:
+        assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
+
+    managed_processes["loggerd"].stop()
+    managed_processes["encoderd"].stop()
+
  def test_init_data_values(self):
    os.environ["CLEAN"] = random.choice(["0", "1"])

@@ -136,53 +180,23 @@ class TestLoggerd:
      assert getattr(initData, initData_key) == v
      assert logged_params[param_key].decode() == v

-  @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist")
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
  def test_rotation(self):
-    os.environ["LOGGERD_TEST"] = "1"
    Params().put("RecordFront", "1")

-    d = DEVICE_CAMERAS[("tici", "ar0231")]
    expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
-    streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
-               (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
-               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]

-    pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
-    vipc_server = VisionIpcServer("camerad")
-    for stream_type, frame_spec, _ in streams:
-      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
-    vipc_server.start_listener()
+    num_segs = random.randint(2, 3)
+    length = random.randint(4, 5) # H264 encoder uses 40 lookahead frames and does B-frame reordering, so minimum 3 seconds before qcam output

-    num_segs = random.randint(2, 5)
-    length = random.randint(1, 3)
-    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
-    managed_processes["loggerd"].start()
-    managed_processes["encoderd"].start()
-    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
-
-    fps = 20.0
-    for n in range(1, int(num_segs*length*fps)+1):
-      for stream_type, frame_spec, state in streams:
-        dat = np.empty(frame_spec[2], dtype=np.uint8)
-        vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
-
-        camera_state = messaging.new_message(state)
-        frame = getattr(camera_state, state)
-        frame.frameId = n
-        pm.send(state, camera_state)
-
-      for _, _, state in streams:
-        assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
-
-    managed_processes["loggerd"].stop()
-    managed_processes["encoderd"].stop()
+    self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length)

    route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
    for n in range(num_segs):
      p = Path(f"{route_path}--{n}")
      logged = {f.name for f in p.iterdir() if f.is_file()}
      diff = logged ^ expected_files
-      assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
+      assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"

  def test_bootlog(self):
    # generate bootlog with fake launch log
@@ -281,3 +295,30 @@ class TestLoggerd:

    segment_dir = self._get_latest_log_dir()
    assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
+
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+  @pytest.mark.parametrize("record_front", [True, False])
+  def test_record_front(self, record_front):
+    params = Params()
+    params.put_bool("RecordFront", record_front)
+
+    self._publish_camera_and_audio_messages()
+
+    dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
+    assert dcamera_hevc_exists == record_front
+
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+  @pytest.mark.parametrize("record_audio", [True, False])
+  def test_record_audio(self, record_audio):
+    params = Params()
+    params.put_bool("RecordAudio", record_audio)
+
+    self._publish_camera_and_audio_messages()
+
+    qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts')
+    ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error"
+    has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b''
+    assert has_audio_stream == record_audio
+
+    raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst')))
+    assert raw_audio_in_rlog == record_audio
@@ -50,6 +50,45 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing,
  }
 }

+void VideoWriter::initialize_audio(int sample_rate) {
+  assert(this->ofmt_ctx->oformat->audio_codec != AV_CODEC_ID_NONE); // check output format supports audio streams
+  const AVCodec *audio_avcodec = avcodec_find_encoder(AV_CODEC_ID_AAC);
+  assert(audio_avcodec);
+  this->audio_codec_ctx = avcodec_alloc_context3(audio_avcodec);
+  assert(this->audio_codec_ctx);
+  this->audio_codec_ctx->sample_fmt = AV_SAMPLE_FMT_FLTP;
+  this->audio_codec_ctx->sample_rate = sample_rate;
+  #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100)  // FFmpeg 5.1+
+  av_channel_layout_default(&this->audio_codec_ctx->ch_layout, 1);
+  #else
+  this->audio_codec_ctx->channel_layout = AV_CH_LAYOUT_MONO;
+  #endif
+  this->audio_codec_ctx->bit_rate = 32000;
+  this->audio_codec_ctx->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;
+  this->audio_codec_ctx->time_base = (AVRational){1, audio_codec_ctx->sample_rate};
+  int err = avcodec_open2(this->audio_codec_ctx, audio_avcodec, NULL);
+  assert(err >= 0);
+  av_log_set_level(AV_LOG_WARNING); // hide "QAvg" info msgs at the end of every segment
+
+  this->audio_stream = avformat_new_stream(this->ofmt_ctx, NULL);
+  assert(this->audio_stream);
+  err = avcodec_parameters_from_context(this->audio_stream->codecpar, this->audio_codec_ctx);
+  assert(err >= 0);
+
+  this->audio_frame = av_frame_alloc();
+  assert(this->audio_frame);
+  this->audio_frame->format = this->audio_codec_ctx->sample_fmt;
+  #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100)  // FFmpeg 5.1+
+  av_channel_layout_copy(&this->audio_frame->ch_layout, &this->audio_codec_ctx->ch_layout);
+  #else
+  this->audio_frame->channel_layout = this->audio_codec_ctx->channel_layout;
+  #endif
+  this->audio_frame->sample_rate = this->audio_codec_ctx->sample_rate;
+  this->audio_frame->nb_samples = this->audio_codec_ctx->frame_size;
+  err = av_frame_get_buffer(this->audio_frame, 0);
+  assert(err >= 0);
+}
+
 void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe) {
  if (of && data) {
    size_t written = util::safe_fwrite(data, 1, len, of);
@@ -67,8 +106,10 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
      }
      int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx);
      assert(err >= 0);
+      // if there is an audio stream, it must be initialized before this point
      err = avformat_write_header(ofmt_ctx, NULL);
      assert(err >= 0);
+      header_written = true;
    } else {
      // input timestamps are in microseconds
      AVRational in_timebase = {1, 1000000};
@@ -77,6 +118,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
      av_init_packet(&pkt);
      pkt.data = data;
      pkt.size = len;
+      pkt.stream_index = this->out_stream->index;

      enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
      pkt.pts = pkt.dts = av_rescale_q_rnd(timestamp, in_timebase, ofmt_ctx->streams[0]->time_base, rnd);
@@ -95,11 +137,80 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
  }
 }

+void VideoWriter::write_audio(uint8_t *data, int len, long long timestamp, int sample_rate) {
+  if (!remuxing) return;
+  if (!audio_initialized) {
+    initialize_audio(sample_rate);
+    audio_initialized = true;
+  }
+  if (!audio_codec_ctx) return;
+  // sync logMonoTime of first audio packet with the timestampEof of first video packet
+  if (audio_pts == 0) {
+    audio_pts = (timestamp * audio_codec_ctx->sample_rate) / 1000000ULL;
+  }
+
+  // convert s16le samples to fltp and add to buffer
+  const int16_t *raw_samples = reinterpret_cast<const int16_t*>(data);
+  int sample_count = len / sizeof(int16_t);
+  constexpr float normalizer = 1.0f / 32768.0f;
+
+  const size_t max_buffer_size = sample_rate * 10; // 10 seconds
+  if (audio_buffer.size() + sample_count > max_buffer_size) {
+    size_t samples_to_drop = (audio_buffer.size() + sample_count) - max_buffer_size;
+    LOGE("Audio buffer overflow, dropping %zu oldest samples", samples_to_drop);
+    audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + samples_to_drop);
+    audio_pts += samples_to_drop;
+  }
+
+  // Add new samples to the buffer
+  const size_t original_size = audio_buffer.size();
+  audio_buffer.resize(original_size + sample_count);
+  std::transform(raw_samples, raw_samples + sample_count, audio_buffer.begin() + original_size,
+                [](int16_t sample) { return sample * normalizer; });
+
+  if (!header_written) return; // header not written yet, process audio frame after header is written
+  while (audio_buffer.size() >= audio_codec_ctx->frame_size) {
+    audio_frame->pts = audio_pts;
+    float *f_samples = reinterpret_cast<float*>(audio_frame->data[0]);
+    std::copy(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size, f_samples);
+    audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size);
+    encode_and_write_audio_frame(audio_frame);
+  }
+}
+
+void VideoWriter::encode_and_write_audio_frame(AVFrame* frame) {
+  if (!remuxing || !audio_codec_ctx) return;
+  int send_result = avcodec_send_frame(audio_codec_ctx, frame); // encode frame
+  if (send_result >= 0) {
+    AVPacket *pkt = av_packet_alloc();
+    while (avcodec_receive_packet(audio_codec_ctx, pkt) == 0) {
+      av_packet_rescale_ts(pkt, audio_codec_ctx->time_base, audio_stream->time_base);
+      pkt->stream_index = audio_stream->index;
+
+      int err = av_interleaved_write_frame(ofmt_ctx, pkt); // write encoded frame
+      if (err < 0) {
+        LOGW("AUDIO: Write frame failed - error: %d", err);
+      }
+      av_packet_unref(pkt);
+    }
+    av_packet_free(&pkt);
+  } else {
+    LOGW("AUDIO: Failed to send audio frame to encoder: %d", send_result);
+  }
+  audio_pts += audio_codec_ctx->frame_size;
+}
+
+
 VideoWriter::~VideoWriter() {
  if (this->remuxing) {
+    if (this->audio_codec_ctx) {
+      encode_and_write_audio_frame(NULL); // flush encoder
+      avcodec_free_context(&this->audio_codec_ctx);
+    }
    int err = av_write_trailer(this->ofmt_ctx);
    if (err != 0) LOGE("av_write_trailer failed %d", err);
    avcodec_free_context(&this->codec_ctx);
+    if (this->audio_frame) av_frame_free(&this->audio_frame);
    err = avio_closep(&this->ofmt_ctx->pb);
    if (err != 0) LOGE("avio_closep failed %d", err);
    avformat_free_context(this->ofmt_ctx);
@@ -1,6 +1,7 @@
 #pragma once

 #include <string>
+#include <deque>

 extern "C" {
 #include <libavformat/avformat.h>
@@ -13,13 +14,28 @@ class VideoWriter {
 public:
  VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec);
  void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe);
+  void write_audio(uint8_t *data, int len, long long timestamp, int sample_rate);
+
  ~VideoWriter();
+
 private:
+  void initialize_audio(int sample_rate);
+  void encode_and_write_audio_frame(AVFrame* frame);
+
  std::string vid_path, lock_path;
  FILE *of = nullptr;

  AVCodecContext *codec_ctx;
  AVFormatContext *ofmt_ctx;
  AVStream *out_stream;
+
+  bool audio_initialized = false;
+  bool header_written = false;
+  AVStream *audio_stream = nullptr;
+  AVCodecContext *audio_codec_ctx = nullptr;
+  AVFrame *audio_frame = nullptr;
+  uint64_t audio_pts = 0;
+  std::deque<float> audio_buffer;
+
  bool remuxing;
 };
@@ -55,8 +55,11 @@ def manager_init() -> None:
    ("CustomAccShortPressIncrement", "1"),
    ("DeviceBootMode", "0"),
    ("DynamicExperimentalControl", "0"),
+    ("DynamicModeldOutputs", "0"),
    ("HyundaiLongitudinalTuning", "0"),
+    ("InteractivityTimeout", "0"),
    ("LagdToggle", "1"),
+    ("LagdToggledelay", "0.2"),
    ("Mads", "1"),
    ("MadsMainCruiseAllowed", "1"),
    ("MadsSteeringMode", "0"),
@@ -68,12 +71,6 @@ def manager_init() -> None:
    ("ModelManager_ModelsCache", ""),
    ("NeuralNetworkLateralControl", "0"),
    ("QuietMode", "0"),
-    ("EnableHkgTuningAngleSmoothingFactor", "1"),
-    ("HkgTuningAngleMinTorqueReductionGain", "10"),
-    ("HkgTuningAngleActiveTorqueReductionGain", "60"),
-    ("HkgTuningAngleMaxTorqueReductionGain", "100"),
-    ("HkgTuningOverridingCycles", "17"),
-    ("HkgAngleLiveTuning", "0"),
  ]

  # device boot mode
@@ -114,7 +114,7 @@ procs = [

  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
-  PythonProcess("soundd", "selfdrive.ui.soundd", and_(only_onroad, not_joystick)),
+  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
@@ -9,10 +9,10 @@ from openpilot.common.retry import retry
 from openpilot.common.swaglog import cloudlog

 RATE = 10
-FFT_SAMPLES = 4096
+FFT_SAMPLES = 1600 # 100ms
 REFERENCE_SPL = 2e-5  # newtons/m^2
-SAMPLE_RATE = 44100
-SAMPLE_BUFFER = 4096  # approx 100ms
+SAMPLE_RATE = 16000
+SAMPLE_BUFFER = 800  # 50ms


@cache
@@ -45,7 +45,7 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray:
 class Mic:
  def __init__(self):
    self.rk = Ratekeeper(RATE)
-    self.pm = messaging.PubMaster(['microphone'])
+    self.pm = messaging.PubMaster(['soundPressure', 'rawAudioData'])

    self.measurements = np.empty(0)

@@ -61,12 +61,12 @@ class Mic:
      sound_pressure_weighted = self.sound_pressure_weighted
      sound_pressure_level_weighted = self.sound_pressure_level_weighted

-    msg = messaging.new_message('microphone', valid=True)
-    msg.microphone.soundPressure = float(sound_pressure)
-    msg.microphone.soundPressureWeighted = float(sound_pressure_weighted)
-    msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted)
+    msg = messaging.new_message('soundPressure', valid=True)
+    msg.soundPressure.soundPressure = float(sound_pressure)
+    msg.soundPressure.soundPressureWeighted = float(sound_pressure_weighted)
+    msg.soundPressure.soundPressureWeightedDb = float(sound_pressure_level_weighted)

-    self.pm.send('microphone', msg)
+    self.pm.send('soundPressure', msg)
    self.rk.keep_time()

  def callback(self, indata, frames, time, status):
@@ -76,6 +76,12 @@ class Mic:

    Logged A-weighted equivalents are rough approximations of the human-perceived loudness.
    """
+    msg = messaging.new_message('rawAudioData', valid=True)
+    audio_data_int_16 = (indata[:, 0] * 32767).astype(np.int16)
+    msg.rawAudioData.data = audio_data_int_16.tobytes()
+    msg.rawAudioData.sampleRate = SAMPLE_RATE
+    self.pm.send('rawAudioData', msg)
+
    with self.lock:
      self.measurements = np.concatenate((self.measurements, indata[:, 0]))

@@ -7,10 +7,10 @@ from openpilot.system.sensord.sensors.i2c_sensor import Sensor
 class LSM6DS3_Temp(Sensor):
  @property
  def device_address(self) -> int:
-    return 0x6A  # Default I2C address for LSM6DS3
+    return 0x6A

  def _read_temperature(self) -> float:
-    scale = 16.0 if log.SensorEventData.SensorSource.lsm6ds3 else 256.0
+    scale = 16.0 if self.source == log.SensorEventData.SensorSource.lsm6ds3 else 256.0
    data = self.read(0x20, 2)
    return 25 + (self.parse_16bit(data[0], data[1]) / scale)

@@ -136,6 +136,17 @@ class TTYPigeon:
        return True
    return False

+def save_almanac(pigeon: TTYPigeon) -> None:
+  # store almanac in flash
+  pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
+  try:
+    if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK):
+      cloudlog.info("Done storing almanac")
+    else:
+      cloudlog.error("Error storing almanac")
+  except TimeoutError:
+    pass
+
 def init_baudrate(pigeon: TTYPigeon):
  # ublox default setting on startup is 9600 baudrate
  pigeon.set_baud(9600)
@@ -245,16 +256,6 @@ def deinitialize_and_exit(pigeon: TTYPigeon | None):
    # controlled GNSS stop
    pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74")

-    # store almanac in flash
-    pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
-    try:
-      if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK):
-        cloudlog.warning("Done storing almanac")
-      else:
-        cloudlog.error("Error storing almanac")
-    except TimeoutError:
-      pass
-
  # turn off power and exit cleanly
  set_power(False)
  sys.exit(0)
@@ -281,6 +282,7 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0)
  def end_condition():
    return True if duration == 0 else time.monotonic() - start_time < duration

+  last_almanac_save = time.monotonic()
  while end_condition():
    dat = pigeon.receive()
    if len(dat) > 0:
@@ -294,6 +296,11 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0)
      msg = messaging.new_message('ubloxRaw', len(dat), valid=True)
      msg.ubloxRaw = dat[:]
      pm.send('ubloxRaw', msg)
+
+      # save almanac every 5 minutes
+      if (time.monotonic() - last_almanac_save) > 60*5:
+        save_almanac(pigeon)
+        last_almanac_save = time.monotonic()
    else:
      # prevent locking up a CPU core if ublox disconnects
      time.sleep(0.001)
@@ -3,21 +3,27 @@ import cffi
 import os
 import time
 import pyray as rl
+import threading
 from collections.abc import Callable
+from collections import deque
 from dataclasses import dataclass
 from enum import IntEnum
+from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.realtime import Ratekeeper

-DEFAULT_FPS = 60
+DEFAULT_FPS = int(os.getenv("FPS", "60"))
 FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
 FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
 FPS_CRITICAL_THRESHOLD = 0.5  # Critical threshold for triggering strict actions
+MOUSE_THREAD_RATE = 140  # touch controller runs at 140Hz

-ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "1") == "1"
-SHOW_FPS = os.getenv("SHOW_FPS") == '1'
-STRICT_MODE = os.getenv("STRICT_MODE") == '1'
+ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1"
+SHOW_FPS = os.getenv("SHOW_FPS") == "1"
+SHOW_TOUCHES = os.getenv("SHOW_TOUCHES") == "1"
+STRICT_MODE = os.getenv("STRICT_MODE") == "1"
 SCALE = float(os.getenv("SCALE", "1.0"))

 DEFAULT_TEXT_SIZE = 60
@@ -45,6 +51,68 @@ class ModalOverlay:
  callback: Callable | None = None


+class MousePos(NamedTuple):
+  x: float
+  y: float
+
+
+class MouseEvent(NamedTuple):
+  pos: MousePos
+  left_pressed: bool
+  left_released: bool
+  left_down: bool
+  t: float
+
+
+class MouseState:
+  def __init__(self):
+    self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE)  # bound event list
+    self._prev_mouse_event: MouseEvent | None = None
+
+    self._rk = Ratekeeper(MOUSE_THREAD_RATE)
+    self._lock = threading.Lock()
+    self._exit_event = threading.Event()
+    self._thread = None
+
+  def get_events(self) -> list[MouseEvent]:
+    with self._lock:
+      events = list(self._events)
+      self._events.clear()
+    return events
+
+  def start(self):
+    self._exit_event.clear()
+    if self._thread is None or not self._thread.is_alive():
+      self._thread = threading.Thread(target=self._run_thread, daemon=True)
+      self._thread.start()
+
+  def stop(self):
+    self._exit_event.set()
+    if self._thread is not None and self._thread.is_alive():
+      self._thread.join()
+
+  def _run_thread(self):
+    while not self._exit_event.is_set():
+      rl.poll_input_events()
+      self._handle_mouse_event()
+      self._rk.keep_time()
+
+  def _handle_mouse_event(self):
+    mouse_pos = rl.get_mouse_position()
+    ev = MouseEvent(
+      MousePos(mouse_pos.x, mouse_pos.y),
+      rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT),
+      rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT),
+      rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT),
+      time.monotonic(),
+    )
+    # Only add changes
+    if self._prev_mouse_event is None or ev[:-1] != self._prev_mouse_event[:-1]:
+      with self._lock:
+        self._events.append(ev)
+      self._prev_mouse_event = ev
+
+
 class GuiApplication:
  def __init__(self, width: int, height: int):
    self._fonts: dict[FontWeight, rl.Font] = {}
@@ -61,6 +129,12 @@ class GuiApplication:
    self._trace_log_callback = None
    self._modal_overlay = ModalOverlay()

+    self._mouse = MouseState()
+    self._mouse_events: list[MouseEvent] = []
+
+    # Debug variables
+    self._mouse_history: deque[MousePos] = deque(maxlen=MOUSE_THREAD_RATE)
+
  def request_close(self):
    self._window_close_requested = True

@@ -89,6 +163,9 @@ class GuiApplication:
    self._set_styles()
    self._load_fonts()

+    if not PC:
+      self._mouse.start()
+
  def set_modal_overlay(self, overlay, callback: Callable | None = None):
    self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback)

@@ -149,11 +226,25 @@ class GuiApplication:
      rl.unload_render_texture(self._render_texture)
      self._render_texture = None

+    if not PC:
+      self._mouse.stop()
+
    rl.close_window()

+  @property
+  def mouse_events(self) -> list[MouseEvent]:
+    return self._mouse_events
+
  def render(self):
    try:
      while not (self._window_close_requested or rl.window_should_close()):
+        if PC:
+          # Thread is not used on PC, need to manually add mouse events
+          self._mouse._handle_mouse_event()
+
+        # Store all mouse events for the current frame
+        self._mouse_events = self._mouse.get_events()
+
        if self._render_texture:
          rl.begin_texture_mode(self._render_texture)
          rl.clear_background(rl.BLACK)
@@ -190,6 +281,20 @@ class GuiApplication:
        if SHOW_FPS:
          rl.draw_fps(10, 10)

+        if SHOW_TOUCHES:
+          for mouse_event in self._mouse_events:
+            if mouse_event.left_pressed:
+              self._mouse_history.clear()
+            self._mouse_history.append(mouse_event.pos)
+
+          if self._mouse_history:
+            mouse_pos = self._mouse_history[-1]
+            rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 15, rl.RED)
+            for idx, mouse_pos in enumerate(self._mouse_history):
+              perc = idx / len(self._mouse_history)
+              color = rl.Color(min(int(255 * (1.5 - perc)), 255), int(min(255 * (perc + 0.5), 255)), 50, 255)
+              rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 5, color)
+
        rl.end_drawing()
        self._monitor_fps()
    except KeyboardInterrupt:
@@ -2,7 +2,7 @@ import os
 import pyray as rl
 from collections.abc import Callable
 from abc import ABC
-from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
@@ -229,7 +229,7 @@ class ListItem(Widget):
    super().set_parent_rect(parent_rect)
    self._rect.width = parent_rect.width

-  def _handle_mouse_release(self, mouse_pos: rl.Vector2):
+  def _handle_mouse_release(self, mouse_pos: MousePos):
    if not self.is_visible:
      return

@@ -1,6 +1,8 @@
+import time
 import pyray as rl
 from collections import deque
 from enum import IntEnum
+from openpilot.system.ui.lib.application import gui_app, MouseEvent, MousePos

 # Scroll constants for smooth scrolling behavior
 MOUSE_WHEEL_SCROLL_SPEED = 30
@@ -38,51 +40,54 @@ class GuiScrollPanel:
    self._bounds_rect: rl.Rectangle | None = None

  def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2:
+    # TODO: HACK: this class is driven by mouse events, so we need to ensure we have at least one event to process
+    for mouse_event in gui_app.mouse_events or [MouseEvent(MousePos(0, 0), False, False, False, time.monotonic())]:
+      self._handle_mouse_event(mouse_event, bounds, content)
+    return self._offset
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, content: rl.Rectangle):
    # Store rectangles for reference
    self._content_rect = content
    self._bounds_rect = bounds

-    # Calculate time delta
-    current_time = rl.get_time()
-
-    mouse_pos = rl.get_mouse_position()
    max_scroll_y = max(content.height - bounds.height, 0)

    # Start dragging on mouse press
-    if rl.check_collision_point_rec(mouse_pos, bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+    if rl.check_collision_point_rec(mouse_event.pos, bounds) and mouse_event.left_pressed:
      if self._scroll_state == ScrollState.IDLE or self._scroll_state == ScrollState.BOUNCING:
        self._scroll_state = ScrollState.DRAGGING_CONTENT
        if self._show_vertical_scroll_bar:
          scrollbar_width = rl.gui_get_style(rl.GuiControl.LISTVIEW, rl.GuiListViewProperty.SCROLLBAR_WIDTH)
          scrollbar_x = bounds.x + bounds.width - scrollbar_width
-          if mouse_pos.x >= scrollbar_x:
+          if mouse_event.pos.x >= scrollbar_x:
            self._scroll_state = ScrollState.DRAGGING_SCROLLBAR

        # TODO: hacky
        # when clicking while moving, go straight into dragging
        self._is_dragging = abs(self._velocity_y) > MIN_VELOCITY
-        self._last_mouse_y = mouse_pos.y
-        self._start_mouse_y = mouse_pos.y
-        self._last_drag_time = current_time
+        self._last_mouse_y = mouse_event.pos.y
+        self._start_mouse_y = mouse_event.pos.y
+        self._last_drag_time = mouse_event.t
        self._velocity_history.clear()
        self._velocity_y = 0.0
        self._bounce_offset = 0.0

    # Handle active dragging
    if self._scroll_state == ScrollState.DRAGGING_CONTENT or self._scroll_state == ScrollState.DRAGGING_SCROLLBAR:
-      if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
-        delta_y = mouse_pos.y - self._last_mouse_y
+      if mouse_event.left_down:
+        delta_y = mouse_event.pos.y - self._last_mouse_y

        # Track velocity for inertia
-        time_since_last_drag = current_time - self._last_drag_time
+        time_since_last_drag = mouse_event.t - self._last_drag_time
        if time_since_last_drag > 0:
-          drag_velocity = delta_y / time_since_last_drag / 60.0
+          # TODO: HACK: /2 since we usually get two touch events per frame
+          drag_velocity = delta_y / time_since_last_drag / 60.0 / 2  # TODO: shouldn't be hardcoded
          self._velocity_history.append(drag_velocity)

-        self._last_drag_time = current_time
+        self._last_drag_time = mouse_event.t

        # Detect actual dragging
-        total_drag = abs(mouse_pos.y - self._start_mouse_y)
+        total_drag = abs(mouse_event.pos.y - self._start_mouse_y)
        if total_drag > DRAG_THRESHOLD:
          self._is_dragging = True

@@ -96,9 +101,9 @@ class GuiScrollPanel:
          scroll_ratio = content.height / bounds.height
          self._offset.y -= delta_y * scroll_ratio

-        self._last_mouse_y = mouse_pos.y
+        self._last_mouse_y = mouse_event.pos.y

-      elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      elif mouse_event.left_released:
        # Calculate flick velocity
        if self._velocity_history:
          total_weight = 0
@@ -167,8 +172,6 @@ class GuiScrollPanel:
      elif self._offset.y < -(max_scroll_y + MAX_BOUNCE_DISTANCE):
        self._offset.y = -(max_scroll_y + MAX_BOUNCE_DISTANCE)

-    return self._offset
-
  def is_touch_valid(self):
    return not self._is_dragging

@@ -1,4 +1,5 @@
 import pyray as rl
+from openpilot.system.ui.lib.application import MousePos
 from openpilot.system.ui.lib.widget import Widget

 ON_COLOR = rl.Color(51, 171, 76, 255)
@@ -23,7 +24,7 @@ class Toggle(Widget):
  def set_rect(self, rect: rl.Rectangle):
    self._rect = rl.Rectangle(rect.x, rect.y, WIDTH, HEIGHT)

-  def _handle_mouse_release(self, mouse_pos: rl.Vector2):
+  def _handle_mouse_release(self, mouse_pos: MousePos):
    if not self._enabled:
      return

@@ -2,6 +2,7 @@ import abc
 import pyray as rl
 from enum import IntEnum
 from collections.abc import Callable
+from openpilot.system.ui.lib.application import gui_app, MousePos


 class DialogResult(IntEnum):
@@ -66,18 +67,18 @@ class Widget(abc.ABC):
    ret = self._render(self._rect)

    # Keep track of whether mouse down started within the widget's rectangle
-    mouse_pos = rl.get_mouse_position()
-    if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._touch_valid():
-      if rl.check_collision_point_rec(mouse_pos, self._rect):
-        self._is_pressed = True
+    for mouse_event in gui_app.mouse_events:
+      if mouse_event.left_pressed and self._touch_valid():
+        if rl.check_collision_point_rec(mouse_event.pos, self._rect):
+          self._is_pressed = True

-    elif not self._touch_valid():
-      self._is_pressed = False
+      elif not self._touch_valid():
+        self._is_pressed = False

-    elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      if self._is_pressed and rl.check_collision_point_rec(mouse_pos, self._rect):
-        self._handle_mouse_release(mouse_pos)
-      self._is_pressed = False
+      elif mouse_event.left_released:
+        if self._is_pressed and rl.check_collision_point_rec(mouse_event.pos, self._rect):
+          self._handle_mouse_release(mouse_event.pos)
+        self._is_pressed = False

    return ret

@@ -91,6 +92,6 @@ class Widget(abc.ABC):
  def _update_layout_rects(self) -> None:
    """Optionally update any layout rects on Widget rect change."""

-  def _handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
    """Optionally handle mouse release events."""
    return False
@@ -204,7 +204,7 @@ class WifiManager:
        'connection': {
          'type': Variant('s', '802-11-wireless'),
          'uuid': Variant('s', str(uuid.uuid4())),
-          'id': Variant('s', ssid),
+          'id': Variant('s', f'openpilot connection {ssid}'),
          'autoconnect-retries': Variant('i', 0),
        },
        '802-11-wireless': {
@@ -212,7 +212,10 @@ class WifiManager:
          'hidden': Variant('b', is_hidden),
          'mode': Variant('s', 'infrastructure'),
        },
-        'ipv4': {'method': Variant('s', 'auto')},
+        'ipv4': {
+          'method': Variant('s', 'auto'),
+          'dns-priority': Variant('i', 600),
+        },
        'ipv6': {'method': Variant('s', 'ignore')},
      }

@@ -5,10 +5,6 @@
 With joystick_control, you can connect your laptop to your comma device over the network and debug controls using a joystick or keyboard.
 joystick_control uses [inputs](https://pypi.org/project/inputs) which supports many common gamepads and joysticks.

-## Note
-You might need to install [xow](https://github.com/medusalix/xow) to use the Xbox One controller on comma device. 
-Even though **xone** is recommended on the xow page, **xow** is the one that works with the comma device.
-
 ## Usage

 The car must be off, and openpilot must be offroad before starting `joystick_control`.
@@ -3,10 +3,7 @@ import os
 import argparse
 import threading
 import numpy as np
-try:
-  import pygame as pg
-except ImportError:
-  print("pygame is not installed. Please install it with 'uv pip install pygame'")
+from inputs import UnpluggedError, get_gamepad

 from cereal import messaging
 from openpilot.common.params import Params
@@ -14,10 +11,7 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.system.hardware import HARDWARE
 from openpilot.tools.lib.kbhit import KBHit

-# Set SDL environment variable to avoid using a video driver for headless operation
-os.environ["SDL_VIDEODRIVER"] = "dummy"
-
-EXPO = 0.4  # Exponential factor for joystick response curve
+EXPO = 0.4


 class Keyboard:
@@ -46,122 +40,60 @@ class Keyboard:
    return True


-class PyGameJoystick:
+class Joystick:
  def __init__(self):
-    # Initialize pygame and joystick subsystem
-    pg.init()
-    if not pg.joystick.get_init():
-      pg.joystick.init()
-
-    # Find connected joysticks
-    joystick_count = pg.joystick.get_count()
-    if joystick_count == 0:
-      print("No joysticks found. Please connect a controller.")
-      exit(1)
-
-    # Initialize the first joystick
-    self.joystick = pg.joystick.Joystick(0)
-    self.joystick.init()
-
-    print(f"Using joystick: {self.joystick.get_name()}")
-    print(f"Number of axes: {self.joystick.get_numaxes()}")
-    print(f"Number of buttons: {self.joystick.get_numbuttons()}")
-    print(f"Number of hats: {self.joystick.get_numhats()}")
-
-    # This supports PlayStation and Xbox controllers on different platforms
+    # This class supports a PlayStation 5 DualSense controller on the comma 3X
+    # TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
+    self.cancel_button = 'BTN_NORTH'  # BTN_NORTH=X/triangle
    if HARDWARE.get_device_type() == 'pc':
-      # Xbox mapping on PC
-      self.accel_axis = 5  # Right trigger
-      self.brake_axis = 4  # Left trigger
-      self.steer_axis = 0  # Left stick horizontal
-      self.cancel_button = 3  # Y/Triangle button
+      accel_axis = 'ABS_Z'
+      steer_axis = 'ABS_RX'
+      # TODO: once the longcontrol API is finalized, we can replace this with outputting gas/brake and steering
+      self.flip_map = {'ABS_RZ': accel_axis}
    else:
-      # PlayStation mapping on comma device
-      self.accel_axis = 5  # R2
-      self.brake_axis = 4  # L2
-      self.steer_axis = 0  # Left stick horizontal
-      self.cancel_button = 3  # Triangle button
+      accel_axis = 'ABS_RX'
+      steer_axis = 'ABS_Z'
+      self.flip_map = {'ABS_RY': accel_axis}

-    # Configure for adaptive mappings based on detected controller
-    controller_name = self.joystick.get_name().lower()
-    if "xbox" in controller_name:
-      print("Xbox controller detected, using Xbox mappings")
-      self.accel_axis = 5  # Right trigger (RT)
-      self.brake_axis = 4  # Left trigger (LT)
-      self.cancel_button = 3  # Y button
-    elif "playstation" in controller_name or "dual" in controller_name:
-      print("PlayStation controller detected, using PlayStation mappings")
-      self.accel_axis = 5  # R2
-      self.brake_axis = 4  # L2
-      self.cancel_button = 3  # Triangle
-
-    # Initialize values
-    self.axes_values = {'gb': 0., 'steer': 0.}  # Maintain same keys as Keyboard class
-    self.axes_order = ['gb', 'steer']  # Match expected format
+    self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
+    self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
+    self.axes_values = {accel_axis: 0., steer_axis: 0.}
+    self.axes_order = [accel_axis, steer_axis]
    self.cancel = False
-    self.deadzone = 0.03  # 3% deadzone for noisy joysticks
-
-    # Process events once to clear the event queue
-    pg.event.pump()

  def update(self):
-    # Process pygame events
    try:
-      for event in pg.event.get():
-        if event.type == pg.JOYDEVICEREMOVED:
-          if event.instance_id == self.joystick.get_instance_id():
-            print("Joystick disconnected!")
-            self.axes_values = {'gb': 0., 'steer': 0.}
-            return False
-
-        elif event.type == pg.JOYBUTTONDOWN:
-          if event.button == self.cancel_button:
-            self.cancel = True
-
-        elif event.type == pg.JOYBUTTONUP:
-          if event.button == self.cancel_button:
-            self.cancel = False
-    except Exception as e:
-      print(f"Error processing events: {e}")
+      joystick_event = get_gamepad()[0]
+    except (OSError, UnpluggedError):
+      self.axes_values = dict.fromkeys(self.axes_values, 0.)
      return False

-    # Read current joystick state directly
-    try:
-      if not self.joystick.get_init():
-        print("Joystick not initialized")
-        return False
+    event = (joystick_event.code, joystick_event.state)

-      # Read steering (left stick horizontal)
-      steer_raw = self.joystick.get_axis(self.steer_axis) * -1
-      steer = steer_raw if abs(steer_raw) > self.deadzone else 0.0
+    # flip left trigger to negative accel
+    if event[0] in self.flip_map:
+      event = (self.flip_map[event[0]], -event[1])

-      # Read gas (right trigger)
-      accel_raw = self.joystick.get_axis(self.accel_axis)
-      # Convert from [-1, 1] to [0, 1] range (triggers often start at -1 when not pressed)
-      accel = (accel_raw + 1) / 2 if self.accel_axis in [4, 5] else accel_raw
-      accel = accel if accel > self.deadzone else 0.0
+    if event[0] == self.cancel_button:
+      if event[1] == 1:
+        self.cancel = True
+      elif event[1] == 0:   # state 0 is falling edge
+        self.cancel = False
+    elif event[0] in self.axes_values:
+      self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
+      self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])

-      # Read brake (left trigger)
-      brake_raw = self.joystick.get_axis(self.brake_axis)
-      # Convert from [-1, 1] to [0, 1] range (triggers often start at -1 when not pressed)
-      brake = (brake_raw + 1) / 2 if self.brake_axis in [4, 5] else brake_raw
-      brake = brake if brake > self.deadzone else 0.0
-
-      # Apply expo for steering
-      self.axes_values['steer'] = EXPO * steer**3 + (1 - EXPO) * steer  # Apply expo for fine control
-
-      # Calculate combined gas/brake value for output [-1, 1] where negative is brake
-      self.axes_values['gb'] = accel - brake
-
-    except Exception as e:
-      print(f"Error reading joystick: {e}")
-      self.axes_values = {'gb': 0., 'steer': 0.}
+      norm = -float(np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]))
+      norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
+      self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
+    else:
      return False
    return True


 def send_thread(joystick):
  pm = messaging.PubMaster(['testJoystick'])
+
  rk = Ratekeeper(100, print_delay_threshold=None)

  while True:
@@ -173,6 +105,7 @@ def send_thread(joystick):
    joystick_msg.testJoystick.axes = [joystick.axes_values[ax] for ax in joystick.axes_order]

    pm.send('testJoystick', joystick_msg)
+
    rk.keep_time()


@@ -184,12 +117,13 @@ def joystick_control_thread(joystick):


 def main():
-  joystick_control_thread(PyGameJoystick())
+  joystick_control_thread(Joystick())
+

 if __name__ == '__main__':
  parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
                                               'openpilot must be offroad before starting joystick_control. This tool supports ' +
-                                               'PlayStation and Xbox controllers on various platforms.',
+                                               'a PlayStation 5 DualSense controller on the comma 3X.',
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
  parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
  args = parser.parse_args()
@@ -205,12 +139,9 @@ if __name__ == '__main__':
    print('Buttons')
    print('- `R`: Resets axes')
    print('- `C`: Cancel cruise control')
-    joystick_control_thread(Keyboard())
  else:
-    print('Using pygame joystick')
-    print('Standard controller mapping:')
-    print('- Left stick: Steering')
-    print('- Right trigger (R2): Gas')
-    print('- Left trigger (L2): Brake')
-    print('- Triangle/Y button: Cancel')
-    joystick_control_thread(PyGameJoystick())
+    print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!')
+    print('If not running on a comma device, the mapping may need to be adjusted.')
+
+  joystick = Keyboard() if args.keyboard else Joystick()
+  joystick_control_thread(joystick)
@@ -19,24 +19,18 @@ def joystickd_thread():
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  VM = VehicleModel(CP)

-  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick', 'selfdriveStateSP'], frequency=1. / DT_CTRL)
+  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
  pm = messaging.PubMaster(['carControl', 'controlsState'])

  rk = Ratekeeper(100, print_delay_threshold=None)
  while 1:
    sm.update(0)
-    ss_sp = sm['selfdriveStateSP']
-    _lat_active = False
-    if ss_sp.mads.available:
-      _lat_active = ss_sp.mads.active
-    else:
-      _lat_active = sm['selfdriveState'].active

    cc_msg = messaging.new_message('carControl')
    cc_msg.valid = True
    CC = cc_msg.carControl
    CC.enabled = sm['selfdriveState'].enabled
-    CC.latActive = _lat_active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
+    CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
    CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
    CC.hudControl.leadDistanceBars = 2
@@ -1,131 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab tab_name="actuator data" containers="1">
-   <Container>
-    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-1.050000" top="1.050000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#17becf" name="/carControl/actuators/torque"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-385.132391" top="536.899115" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#1f77b4" name="/carControl/actuators/steeringAngleDeg"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.364800" top="14.956815" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#ff7f0e" name="/carState/vEgoRaw"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.208517" top="0.149191" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#f14cc1" name="/carControl/actuators/curvature"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="steering messages (CAN)" containers="1">
-   <Container>
-    <DockSplitter sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-189.000000" top="189.000000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#1ac938" name="/can/2/LKAS_ALT/LKAS_ANGLE_CMD"/>
-       <curve color="#9467bd" name="/can/128/LKAS_ALT/LKAS_ANGLE_CMD"/>
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-       <curve color="#f14cc1" name="/can/128/LKAS_ALT/LKAS_ANGLE_MAX_TORQUE"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.025000" top="1.025000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#d62728" name="/carState/steeringPressed"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
-       <range bottom="460.325000" top="1874.675000" right="590.696728" left="429.901019"/>
-       <limitY/>
-       <curve color="#1f77b4" name="/pandaStates/0/safetyTxBlocked"/>
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-     </DockArea>
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-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="Understanding Torque" containers="1">
-   <Container>
-    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
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- <use_relative_time_offset enabled="1"/>
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-  <Tab tab_name="steering messages (CAN)" containers="1">
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- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  (value * -9.8) - (v3 * 9.81)
-end
--return 0
-  return  (value * -9.8) - (v3 * 9.81)</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-    <v3>/liveParameters/roll</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^3">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^2">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  value * -9.8
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="roll compensated lateral acceleration">
-   <global></global>
-   <function>if (v3 == 0 and v4 == 1) then
-  return  (value * v1 ^ 2) - (v2 * 9.81)
-end
-return 0</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-    <v3>/carState/steeringPressed</v3>
-    <v4>/carControl/latActive</v4>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
- </customMathEquations>
- <snippets/>
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- <tabbed_widget name="Main Window" parent="main_window">
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-       <curve color="#17becf" name="max torque(calc)">
-        <transform name="Moving Average" alias="max torque(calc)[Moving Average]">
-         <options compensate_offset="true" value="10"/>
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-       <curve color="#f14cc1" name="desired lat accel"/>
-       <curve color="#888888" name="zero"/>
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-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="0"/>
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- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis="" delimiter="0"/>
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-  <plugin ID="DataLoad MCAP"/>
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-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="Cereal Subscriber"/>
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-  <plugin ID="Quaternion to RPY"/>
-  <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <previouslyLoaded_Datafiles>
-  <fileInfo prefix="" filename="../tmpa_e8kwpj.rlog">
-   <selected_datasources value=""/>
-  </fileInfo>
- </previouslyLoaded_Datafiles>
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="zero">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>return 0</function>
-   <linked_source>/carState/aEgo</linked_source>
-  </snippet>
-  <snippet name="max torque lj adj">
-   <global>min=0
-max=250
-max_from_speed=96
-
-k1=200
-k2=30
-k3=1    
-k4=1
-k5=10
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end</global>
-   <function>return 250 - value * 20</function>
-   <linked_source>desired lateral jark</linked_source>
-  </snippet>
-  <snippet name="ang_cmd rate">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="max torque(calc)">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>la = apply_deadzone(v2, la_deadzone)
-lj = v3
-
-if la == 0.0 then
-    lj = 0.0
-end
-
-fla = math.min(math.abs(k1 * la)^k3, max)
-flj = math.min(math.abs(k2 * lj)^k4, max)
-
-out = fla
-
-flv = math.min(max_from_speed, k5 * v4)
-
-out = out + flv
-
-out = math.max(math.min(out, max), min)
-
-if sign(la) == sign(lj) then
-    out = out - flj
-else
-    out = out + flj
-end
-
-
-if v5 == 1.0 then
-    out = 0.0
-end
-
-out = math.max(math.min(out, max), min)
-out = apply_rate_limit(old, out, rate_lim)
-old = out
-
-return out</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-   <additional_sources>
-    <v1>ang_cmd rate</v1>
-    <v2>desired lat accel</v2>
-    <v3>desired lateral jark</v3>
-    <v4>/carState/vEgo</v4>
-    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lateral jark">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="desired lat accel">
-   <global></global>
-   <function>return value * v1^2</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="abs(ang_cmd)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
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-  <Tab tab_name="tab1" containers="1">
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-       <limitY/>
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-       <curve name="IMU_LatAccelVal_ms^2" color="#f14cc1"/>
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-       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
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-       <curve name="/carState/steeringPressed" color="#0097ff"/>
-       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
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-       <range bottom="-1.660728" right="1431.113121" top="67.942958" left="5.322399"/>
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-       <curve name="/carState/vEgo" color="#f14cc1">
-        <transform name="Scale/Offset" alias="/carState/vEgo[Scale/Offset]">
-         <options value_scale="2.23694" time_offset="0" value_offset="0"/>
-        </transform>
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-   </Container>
-  </Tab>
-  <Tab tab_name="tab2" containers="1">
-   <Container>
-    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
-     <DockArea name="...">
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-       <limitY/>
-       <curve name="/can/1/IMU_01_10ms/IMU_RollRtVal" color="#17becf"/>
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-       <range bottom="-0.058795" right="1431.113121" top="0.072448" left="5.322399"/>
-       <limitY/>
-       <curve name="/liveParameters/roll" color="#bcbd22"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="1"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
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--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Nayan	924eb1aa57	Merge branch 'master-new' into dynamic-outputs-toggle	2025-07-19 01:03:33 -04:00
Jason Wen	f4f368e129	Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#1034 )	2025-07-19 00:48:41 -04:00
Jason Wen	beaec753ab	Merge branch 'upstream/openpilot/master' into sync-20250710 # Conflicts: # .github/workflows/selfdrive_tests.yaml # README.md # common/params_keys.h # opendbc_repo # panda # selfdrive/controls/lib/longitudinal_planner.py # selfdrive/controls/lib/tests/test_latcontrol.py # selfdrive/ui/soundd.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # tinygrad_repo	2025-07-19 00:28:43 -04:00
discountchubbs	4faeedec57	dynamic outputs toggle	2025-07-16 12:03:35 -07:00
discountchubbs	638a92bffb	Rm toggle from refactor	2025-07-16 11:57:30 -07:00
James Vecellio-Grant	ad2fab062e	Merge branch 'master-new' into modeld-refactor-july7	2025-07-15 06:38:09 -07:00
discountchubbs	d5b59d2b19	Make most outputs dynamic	2025-07-15 06:34:13 -07:00
discountchubbs	079ce94cb4	dynamic	2025-07-14 16:40:19 -07:00
discountchubbs	f7efd7c641	seems a bit repetitive yea?	2025-07-14 16:34:36 -07:00
James Vecellio-Grant	e43c60c004	ci: Automate model build, publish, and update docs with JSON metadata (#1036 ) * gh workflows: Create build single and build all models Recompile action, and build single model action... I'm tired, and this could definitely most probably be wrong. on push : Revert me! Revert "on push : Revert me!" This reverts commit c6ab17adad981585f93c285e9d8a418e4c975879. checkout gitlab Update build-single-tinygrad-model.yaml Whoops. ubuntu-latest not self-hosted self-hosted is comma device gh api because artifacts Dynamic long Update build-single-tinygrad-model.yaml * FoF to FOF, because spellchecker is no fun * ignore * Create new dir and json by default since its full recompile red diff, who doesn't like it * Minimal patch to ssh agent from yesterday * Update .codespellignore --------- Co-authored-by: DevTekVE <devtekve@gmail.com>	2025-07-14 11:39:19 -07:00
discountchubbs	30907c3cf9	Affix to generation, while allowing older models to use this IF param is set.	2025-07-13 20:21:33 -07:00
James Vecellio-Grant	a39bc65883	Even clearer!	2025-07-12 22:26:20 +00:00
James Vecellio-Grant	2cc3755760	Make generation a property for clarity	2025-07-12 22:20:51 +00:00
James Vecellio-Grant	abf836a2b8	Merge branch 'master-new' into modeld-refactor-july7	2025-07-10 07:02:13 -07:00
Nayan	92f1977666	UI: Custom Interactivity Timeout (#1032 ) custom interactivity timeout	2025-07-10 07:30:10 +02:00
Shane Smiskol	501fddac82	raylib ui: add brightness and display power (#35676 ) * add constant * fix initial interaction time * from ui.cc	2025-07-09 22:04:22 -07:00
Shane Smiskol	a48a08bc80	scroll panel: remove useless return	2025-07-09 21:45:52 -07:00
Shane Smiskol	13c5c4dacc	raylib: don't drop touch events on device (#35672 ) * mouse thread * instanciate mouse * type that * pc handling * use mouse event list in widget * use events in scroll panel * no stop that * hack for now * typing * run * clean up	2025-07-09 21:33:19 -07:00
Shane Smiskol	65381279f4	raylib: disable vsync (#35674 ) disable vsync	2025-07-09 20:24:05 -07:00
github-actions[bot]	ddfda8a6ec	[bot] Update translations (#35668 ) Update translations Co-authored-by: Vehicle Researcher <user@comma.ai>	2025-07-09 20:22:40 -07:00
Maxime Desroches	ccc2e9297b	pigeond: save almanac periodically (#35661 ) * save * save * check * comments * remove	2025-07-09 19:42:39 -07:00
discountchubbs	3c100e3d92	red diff	2025-07-09 19:37:03 -07:00
Shane Smiskol	c9731d6aa9	raylib: show touches flag for debugging (#35671 ) * show touches * type	2025-07-09 17:15:04 -07:00
Maxime Desroches	17d9b12693	ci: don't push process replay diff automatically to Azure (#35670 ) remove	2025-07-09 16:56:49 -07:00
Adeeb Shihadeh	2b56a6c37e	Revert "tools: update to commaCarSegments v2 (#35660 )" This reverts commit `12a5d8c2db`.	2025-07-09 10:58:47 -07:00
Adeeb Shihadeh	f5bbedb5c5	lagd enable in release	2025-07-09 10:53:46 -07:00
Lee Jong Mun	a82ff7536d	Multilang: update kor translation (#35666 ) Multilang: kor translation update	2025-07-09 08:34:11 -07:00
Shane Smiskol	9f9940c5a3	ui.py: add bg to radar points fix	2025-07-08 23:10:45 -07:00
eFini	f088b4320c	Multilang: update zh translation (#35662 )	2025-07-08 18:32:32 -07:00
Jason Young	12a5d8c2db	tools: update to commaCarSegments v2 (#35660 )	2025-07-08 18:31:44 -04:00
Jimmy	c284edcd33	test: fix test_rotation in test_loggerd.py (#35658 ) fix test_rotation	2025-07-08 14:20:34 -07:00
Harald Schäfer	20fdb686ca	latcontrol torque: remove option to feed back on localizer (#35659 ) * Localizer is too laggy for control * typo * typo * fix test * fix imports * Revert "fix imports" This reverts commit 5074f8050170f974b451e00d9fdc752f09a47d57. * fix improt * import	2025-07-08 14:12:46 -07:00
Alexandre Nobuharu Sato	147ce02178	Multilang: update pt-BR translation (#35657 )	2025-07-08 14:12:32 -07:00
Bruce Wayne	9aed28a216	bump opendbc	2025-07-08 14:07:16 -07:00
Jimmy	de16c6fbe1	test: RecordFront and RecordAudio (fixed) (#35654 ) * record front and record audio tests * set tests to same group so they are sequential * add comment	2025-07-08 13:20:00 -07:00
James Vecellio-Grant	cda3c90468	Mypy from myphone!	2025-07-08 13:05:15 -07:00
programanichiro	2a5c628d86	Multilang: update ja translation. (#35655 ) * 日本語訳、追加＆調整。 * 調整。	2025-07-08 10:39:57 -07:00
James Vecellio-Grant	2c66b6bb75	Update longitudinal_planner.py	2025-07-08 10:22:48 -07:00
discountchubbs	ee12e4b7b4	Add full conditional	2025-07-08 06:37:41 -07:00
discountchubbs	a7751702b7	This needs to be apart of the conditional else fail	2025-07-08 06:16:45 -07:00
Shane Smiskol	2b8a956f41	athena: lower upload DHCP priority (#35648 ) * try this * draft * works * caps * should only need https * fix test	2025-07-07 21:39:00 -07:00
Jimmy	684f770435	Revert "test: RecordFront and RecordAudio" (#35652 ) Revert "test: RecordFront and RecordAudio (#35650)" This reverts commit `1b92dbb46f`.	2025-07-07 21:14:22 -07:00
Jimmy	1b92dbb46f	test: RecordFront and RecordAudio (#35650 ) record front and record audio tests	2025-07-07 21:10:37 -07:00
discountchubbs	eaa0b44f71	We can revert this after dev-c3-new testing and ready to merge.	2025-07-07 20:40:46 -07:00
discountchubbs	445b101a8b	Clean this up	2025-07-07 20:40:38 -07:00
discountchubbs	64cc311161	Introduce zero inputs for Lead, and plan to conform with new SP model introduced Monday, July 7, 2025	2025-07-07 19:15:51 -07:00
Adeeb Shihadeh	8e3b5f6210	bump to 0.10	2025-07-07 18:52:18 -07:00
Harald Schäfer	13019da855	Update RELEASES.md	2025-07-07 18:43:30 -07:00
Harald Schäfer	53da5fa6b1	Update RELEASES.md	2025-07-07 18:42:57 -07:00
Harald Schäfer	5b70c78902	bump opendbc (#35649 ) * bump opendbc * update ref	2025-07-07 18:40:06 -07:00
Shane Smiskol	74ebcd2249	Missing NM params for raylib wifi manager (#35646 ) stuff missing	2025-07-07 16:30:04 -07:00
commaci-public	9ff322cff8	[bot] Update Python packages (#35644 ) * Update Python packages * revert for now --------- Co-authored-by: Vehicle Researcher <user@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2025-07-07 14:48:57 -07:00
github-actions[bot]	3238cd42cd	[bot] Update translations (#35643 ) Update translations Co-authored-by: Vehicle Researcher <user@comma.ai>	2025-07-07 14:45:48 -07:00
Kacper Rączy	44c8cc4cb0	Revert "lagd: disable in release (#35426 )" and "lagd calib: hide on release (#35523 )" (#35633 ) * Revert "lagd: disable in release (#35426)" This reverts commit `6f6adc10a8`. * Revert "lagd calib: hide on release (#35523)" This reverts commit `e345f25ce4`. * Fix conflict	2025-07-07 10:18:31 +02:00
James Vecellio-Grant	af53db3b07	Longitudinal Planner: Allow Non-MLSIM Models to Use MPC (#1012 ) * gen 11 only api limit exceeded maybe not * Try this for ModelDataV2.Action * mpc mode * Fix This * Revert "Try this for ModelDataV2.Action" This reverts commit `e7db17980b`. * fix logic flaw * Address comments for readability. --------- Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>	2025-07-05 21:23:32 -07:00
James Vecellio-Grant	394603727e	Bug: Param Store Cache (#1025 ) * cache * Clear every 10 iterations, which means 100hz * 10 * Revert "Clear every 10 iterations, which means 100hz * 10" This reverts commit `4eda3079e6`. * Apply suggestion from @devtekve * Apply suggestion from @devtekve --------- Co-authored-by: DevTekVE <devtekve@gmail.com>	2025-07-05 14:58:34 -07:00
James Vecellio-Grant	d0bd8cc4a3	liveDelay: Add live delay toggle to vehicles using torqued (#1001 ) * Add live delay toggle to torqued.py and twilsonco NNLC * Set this in init * Clean up * Live delay toggle refactor * ModeldLagd -> LagdToggle * This is for lagd_toggle.py * Add to NNLC * Lagd toggle: Display current values on UI * Add break * LagdToggleDelay Live edit software_delay when livedelay is toggled `off` * Always show description * Add description as to why values don't update offroad --------- Co-authored-by: Kumar <36933347+rav4kumar@users.noreply.github.com>	2025-07-05 14:42:36 -07:00
Adeeb Shihadeh	a8ec08e5bb	modeld: remove redundant process config (#35639 )	2025-07-05 13:52:57 -07:00
Kumar	00eb0e983d	DEC: Kalman and the Magic Mode Switcheroo (#1026 ) * dec with kalmanfilter * updat pytest * Update sunnypilot/selfdrive/controls/lib/dec/constants.py Co-authored-by: DevTekVE <devtekve@gmail.com> --------- Co-authored-by: DevTekVE <devtekve@gmail.com>	2025-07-05 12:27:16 -07:00
DevTekVE	9bdfd46b8f	ci: updating gh runner and adjust restore process (#1022 ) * chore(ci): parameterize and update GitHub runner version to 2.325.0 * ci: refactor GitHub runner service installation logic Improved service installation workflow by introducing service template creation and cleaning up redundant checks. Enhanced restoration logic with clearer system state assessment and simplified flow for better maintainability.	2025-07-05 20:55:27 +02:00
Jimmy	baaa502b55	move record mic toggle (#35622 ) move toggle	2025-07-05 11:33:35 -07:00
Jimmy	a4e4a8afef	include audio in qcamera.ts (#35608 ) * encode/store audio as part of video file * better match write_audio() with write() * handle different FFmpeg versions, flush audio encoder, suppress encoder QAvg/info messages * use audio_buffer.size() instead of keeping track of size separately * no more for loops * save to qcam and rlog * assert audio support check * microphone --> soundPressure, audioData --> rawAudioData * deque much more efficient if buffer ever >> frame_size, ~ same performance for defaults * cleanup and fix time scaling * initialize audio separately and pass sample_rate in * update comments * ensure header is written before writing audio * buffer audio frame but do not process before header written * handle buffer overflow now that we are using as an actual buffer * spelling	2025-07-05 11:03:13 -07:00
Maxime Desroches	c807ecd7e1	revert fixed pytest seed	2025-07-03 18:57:59 -07:00
Maxime Desroches	8ae0026d8d	remove `coverage` package (#35634 ) cov	2025-07-03 18:49:06 -07:00
Maxime Desroches	ebe9ab85af	ci: remove `codecov` (#35631 ) * debug * coverage?? * remove all coverage * remove old hack * Revert "remove old hack" This reverts commit 32ee5f589f98f548afac46a539a4b5ab095630e5. * remove * read	2025-07-03 18:28:57 -07:00
Maxime Desroches	1209c2a6c0	ci: format tests yaml (#35632 ) format	2025-07-03 17:14:24 -07:00
Adeeb Shihadeh	7e4c9ee612	tici: reduce GPU pwrlevel (#35630 )	2025-07-03 12:57:08 -07:00
DevTekVE	2183b4ca7b	Add support for generating clang compilation database by default (#35629 ) compilation db by default	2025-07-03 10:06:55 -07:00
Harald Schäfer	e503e657bc	Model error deprecated with TR (#35628 ) * Model error deprecated with TR * no get speed error * import	2025-07-02 23:36:41 -07:00
Harald Schäfer	64fd3f9860	Tomb Raider 14 (#35620 ) * f7db6a09-43c5-4db9-b856-7fe1a1c231eb/400 * bd99d079-9afb-4af5-9f31-236d5c9ff15f/400 * aggressive tr: 7707a4ca-7d5e-47a2-8760-93b5004695cd/400 * bd99d079-9afb-4af5-9f31-236d5c9ff15f/400 * ae82d7a8-b74d-43b5-ab6d-d72e6040dab3/400 * revert stop distance * comments	2025-07-02 21:50:55 -07:00
Harald Schäfer	a5630eb7b7	Bump opendbc * bronco special * ignore low speed * fixes * update ref * bump * update ref	2025-07-02 21:25:08 -07:00
Shane Smiskol	f726717c72	Update stale.yaml	2025-06-30 20:34:47 -07:00
commaci-public	5c56037742	[bot] Update Python packages (#35617 ) Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai>	2025-06-30 15:07:53 -07:00
Adeeb Shihadeh	f79f7b6584	sensord: fix temp scale (#35621 )	2025-06-30 14:50:25 -07:00
Adeeb Shihadeh	08be179b8f	update release notes	2025-06-30 13:46:06 -07:00
Jimmy	dcd56ae09a	store mic audio with toggle (#35595 ) * store/send mic audio with toggle * script to extract audio from logs * change description and add translation placeholders * microphone icon * apply toggle in loggerd * add legnth and counter * startFrameIdx counter * Revert "change description and add translation placeholders" This reverts commit 7baa1f6de99c6ebe9f9906193da7e83dad79511a. * send mic data first and then calc * restore changed description/icon after revert * adjust fft samples to keep old time window * remove extract_audio.py since audio is now stored in qcam isntead of rlog * qt microphone recording icon * Revert "remove extract_audio.py since audio is now stored in qcam isntead of rlog" This reverts commit 7a3a75bd8db5376d1e442a3ba931c67550b5f132. * move extract_audio script and output file by default * remove length field * recording indicator swaps sides based on lhd/rhd * use record icon from comma body * Update toggle description Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * update raylib toggle desc cause I did earlier * microphone --> soundPressure, audioData --> rawAudioData * cleanup unused var * update README * sidebar mic indicator instead of annotated camera * improve logic readability * remove startFrameIdx and sequenceNum * use Q_PROPERTY/setProperty so that update() is actually called on value change * specify old id for SoundPressure * fix typo --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2025-06-30 13:42:21 -07:00
Shane Smiskol	082f4c0aee	micd: deprecate unused field (#35618 ) deprecate	2025-06-30 11:50:34 -07:00
Adeeb Shihadeh	41f95dc581	separate stale thresholds for draft PRs	2025-06-30 09:09:24 -07:00
eFini	c3c5992f88	modeld: avoid using USB GPU on a AMD laptop (#35602 ) modeld: avoid using usb GPU if 'USBGPU' is not in os.environ Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2025-06-29 14:37:51 -07:00
Andrei Radulescu	9e2fc078cb	remove thneed from gitignore (#35615 )	2025-06-29 08:13:28 -07:00
Andrei Radulescu	0f1a9d5c8c	webcam: changes for comma zero (#35464 ) * Revert "webcam: remove other cv2 usage (#33236)" This reverts commit `0cade54015`. * Revert "remove cv2 usage (#33101)" This reverts commit `144e9e271c`. * Revert "remove opencv-python-headless (#33082)" This reverts commit `488e08507a`. * webcam: set width, height, fps; flip image; use av reformat * 1280x720 @ 25fps	2025-06-28 11:30:13 -07:00
Harald Schäfer	713c02cc3f	Torque control: more integrator (#35610 ) * Torque control: more integrator * bump opendbc * update ref	2025-06-27 22:28:59 -07:00