Update display_panel.cc

Squashed commit of the following:
commit 669f3b7945 Author: royjr <royjr96@gmail.com> Date: Fri Nov 7 21:51:35 2025 -0500 fix commit 63122e1a33 Merge: c9b1afb15 c1d3ae427 Author: royjr <royjr96@gmail.com> Date: Fri Nov 7 21:25:46 2025 -0500 Merge branch 'master' into visual-style commit c9b1afb154 Merge: 6e3bd3fbe 9b92cdd2c Author: royjr <royjr96@gmail.com> Date: Fri Oct 10 00:06:55 2025 -0400 Merge branch 'master' into visual-style commit 6e3bd3fbed Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:56:37 2025 -0400 explicit radius commit 42592dd550 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:54:34 2025 -0400 match what we currently send commit b2f7d72a33 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:53:07 2025 -0400 no need commit 2e0ce18c84 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:52:51 2025 -0400 group commit 2a9a4a9263 Merge: e63fb10fd d6317ffd2 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:51:18 2025 -0400 Merge branch 'master' into visual-style commit e63fb10fdb Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:35:23 2025 -0400 Revert "metric threshold" This reverts commit b54941928d. commit b54941928d Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:35:15 2025 -0400 metric threshold commit b85b8ffacf Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:28:10 2025 -0400 better VisualStyleOverheadThreshold commit 3ff2e9b26a Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:25:37 2025 -0400 reorder commit 4b3ffc722a Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:24:52 2025 -0400 show visual_radar_tracks_delay_settings on VisualRadarTracks commit 5f49066829 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:18:51 2025 -0400 more commit ab2eb218d5 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:16:06 2025 -0400 clean commit 6212b174e9 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:12:08 2025 -0400 descs commit a8a6e5708a Merge: 54b060f17 ae21d40a1 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:47:03 2025 -0400 Merge branch 'master' into visual-style commit 54b060f178 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:45:17 2025 -0400 move with commit 8266386cd0 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:44:06 2025 -0400 better commit 8bbe87ee22 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:40:23 2025 -0400 simple commit d35ac0c145 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:34:26 2025 -0400 a bit better commit a134ae1e29 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:25:55 2025 -0400 combine commit 6a69759b9e Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:24:51 2025 -0400 hide options based on options commit b9063e2966 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:55:40 2025 -0400 cleanup commit 4397a4387a Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:49:14 2025 -0400 mooooore fps commit 32dc384524 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:47:08 2025 -0400 not needed for now commit 68fa239b97 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:45:37 2025 -0400 unused commit c8367fbc25 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:44:45 2025 -0400 more fps remove commit 76fc4514e1 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:43:32 2025 -0400 reorder commit 073ce2b4df Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:35:37 2025 -0400 remove VisualFPS commit 5d516ba89f Merge: e819a0dcb 014baf8e9 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 12:26:38 2025 -0400 Merge branch 'master' into visual-style commit e819a0dcb1 Merge: ba4b583e6 8050c56a4 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 02:14:22 2025 -0400 Merge branch 'master' into visual-style commit ba4b583e6e Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:55:38 2025 -0400 fix visual_style_overhead_zoom commit 5954354356 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:48:06 2025 -0400 fix visual_style_overhead commit 23ff232333 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:40:10 2025 -0400 fix visual_style_overhead_settings commit 0bb47fcfa9 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:29:15 2025 -0400 fix visual_style_overhead_threshold_settings commit 99a5682371 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:09:08 2025 -0400 todo commit 22ca343050 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:07:53 2025 -0400 fix visual_style_overhead_threshold_settings commit 0049d20151 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:05:17 2025 -0400 VisualStyleZoom fix commit b9f8f4e8ac Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 00:55:20 2025 -0400 visual style better commit 26564dd42f Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 00:07:31 2025 -0400 better VisualWideCam commit ec440e4568 Merge: 69817f887 408d52d72 Author: royjr <royjr96@gmail.com> Date: Tue Oct 7 22:38:57 2025 -0400 Merge branch 'master' into visual-style commit 69817f887b Merge: df21208b7 0f4828df8 Author: royjr <royjr96@gmail.com> Date: Tue Sep 30 15:01:21 2025 -0400 Merge branch 'master' into visual-style commit df21208b7c Merge: 660c994c5 082ea8119 Author: royjr <royjr96@gmail.com> Date: Thu Sep 25 02:08:38 2025 -0400 Merge branch 'master' into visual-style commit 660c994c5e Author: royjr <royjr96@gmail.com> Date: Thu Sep 25 02:08:28 2025 -0400 visual_style_blend vs visual_style_overhead_blend commit 904cc796b0 Author: royjr <royjr96@gmail.com> Date: Thu Sep 25 01:44:06 2025 -0400 prevent jitter commit 1a9a1e1b8a Merge: 2ae7078c0 1465e38c7 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 23:00:46 2025 -0400 Merge branch 'master' into visual-style commit 2ae7078c0f Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 14:37:21 2025 -0400 use ParamWatcher commit 0fde830a30 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 10:35:46 2025 -0400 fix params commit 7c744a42e5 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 08:18:51 2025 -0400 safe font commit 90cc169dec Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 08:17:59 2025 -0400 VisualRadarTracksDelay commit 36c1e11a9e Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:47:16 2025 -0400 add FPS toggle commit 5e26a99337 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:40:59 2025 -0400 better fps commit 53683cf90b Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:25:00 2025 -0400 constant track size commit 95dcc23887 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:21:57 2025 -0400 better tracks for overhead commit cef3163c7c Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 06:54:46 2025 -0400 more more more cached params commit cbc34dd1f6 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 06:49:41 2025 -0400 more cached params commit fbd1f6bad1 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 06:42:14 2025 -0400 cached params commit f2ddf9abba Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 04:04:52 2025 -0400 debug ui lag commit 8a5eaf5ba6 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 03:35:06 2025 -0400 prepare for lag compensation commit ddb377ac5b Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 03:24:15 2025 -0400 radar lag compensate commit 512a01d28c Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 01:33:50 2025 -0400 VisualWideCam toggle (untested) commit b30e275169 Merge: ee9fe5c9e ecee67dd6 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 01:15:18 2025 -0400 Merge branch 'master' into visual-style commit ee9fe5c9ed Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 01:10:44 2025 -0400 VisualRadarTracks toggle commit e672a352d3 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 00:24:38 2025 -0400 bigger points commit 361d107040 Author: royjr <royjr96@gmail.com> Date: Mon Sep 22 23:55:55 2025 -0400 basic radar commit 36eb047cd3 Merge: 218c6172e d5a873ed8 Author: royjr <royjr96@gmail.com> Date: Mon Sep 22 00:10:31 2025 -0400 Merge branch 'master' into visual-style commit 218c6172e6 Author: royjr <royjr96@gmail.com> Date: Mon Sep 22 00:03:29 2025 -0400 darker fills commit 8f35e4fc3c Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 23:02:48 2025 -0400 Revert "smooooth" This reverts commit c965df39d6. commit c965df39d6 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 22:10:35 2025 -0400 smooooth commit 53ef69f3c3 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:55:23 2025 -0400 hide horizon if no data commit ea9ca18c8b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:49:01 2025 -0400 horizon at end commit 225858261e Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:34:14 2025 -0400 better horizon commit 43de43b34a Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:25:39 2025 -0400 better lines commit 96ddbe35a1 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:37:54 2025 -0400 dynamically adjust background commit 7d547ad533 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:30:13 2025 -0400 fix default commit 13de58b845 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:30:06 2025 -0400 add more speeds commit 3d8c563a4b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:19:57 2025 -0400 dynamic zoom commit bc75199d5a Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 14:34:38 2025 -0400 overhead commit ba6e18ed91 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 14:32:30 2025 -0400 only for vision commit 74dbcd699b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 14:31:58 2025 -0400 add road edges to vision commit 35c6af0190 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 13:55:56 2025 -0400 theme commit 827de88c8b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 13:03:37 2025 -0400 stump top down commit 54ca4b537d Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 12:48:32 2025 -0400 VisualStyleBlendThreshold commit c61f327076 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 13:04:07 2025 -0400 allow always overhead view commit d569913e5a Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 12:57:17 2025 -0400 VisualStyleBlend commit 418c93be06 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 12:16:49 2025 -0400 animate overhead commit 5acc040a89 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 11:24:24 2025 -0400 overhead commit e45b17c230 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 03:00:00 2025 -0400 better commit b14b6246d7 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 00:31:07 2025 -0400 visual style init
2026-06-14 16:44:38 +08:00 · 2025-11-08 09:57:57 -08:00 · 2025-11-07 22:11:17 -05:00 · 2025-11-07 22:10:20 -05:00 · 2025-11-07 17:59:23 -08:00 · 2025-11-07 12:37:22 -08:00
56 changed files with 636 additions and 1683 deletions
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -74,7 +74,7 @@ jobs:
        env:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
          cd gitlab_docs
          git checkout main
          git sparse-checkout set --no-cone models/
@@ -191,7 +191,7 @@ jobs:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          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}
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -109,7 +109,7 @@ jobs:
          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/${{ vars.MODELS_GITLAB }} gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -156,8 +156,6 @@ jobs:
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx

      - name: Build Model
        run: |
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,7 +4,6 @@
 [submodule "opendbc"]
  path = opendbc_repo
  url = https://github.com/sunnypilot/opendbc.git
-  branch = tn
 [submodule "msgq"]
  path = msgq_repo
  url = https://github.com/sunnypilot/msgq.git
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -192,7 +192,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  aTarget @5 :Float32;
  events @6 :List(OnroadEventSP.Event);
  e2eAlerts @7 :E2eAlerts;
-  accelPersonality @8 :AccelerationPersonality;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -204,11 +203,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      blended @1;
    }
  }
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
-  }
+
  struct SmartCruiseControl {
    vision @0 :Vision;
    map @1 :Map;
@@ -345,7 +340,6 @@ struct OnroadEventSP @0xda96579883444c35 {
    speedLimitChanged @21;
    speedLimitPending @22;
    e2eChime @23;
-    laneChangeRoadEdge @24;
  }
 }

@@ -452,8 +446,6 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
-  leftLaneChangeEdgeBlock @1 :Bool;
-  rightLaneChangeEdgeBlock @2 :Bool;

  enum TurnDirection {
    none @0;
@@ -496,84 +488,11 @@ struct CustomReserved15 @0xbd443b539493bc68 {
 struct CustomReserved16 @0xfc6241ed8877b611 {
 }

-enum MapdExtendedOutType {
-  paths @0;
-  settings @1;
+struct CustomReserved17 @0xa30662f84033036c {
 }

-struct MapdExtendedOut @0xa30662f84033036c {
-  type @0 :MapdExtendedOutType;
-  json @1 :Text;
+struct CustomReserved18 @0xc86a3d38d13eb3ef {
 }

-enum MapdInputType {
-  download @0;
-  setTargetLateralAccel @1;
-  setSpeedLimitOffset @2;
-  setSpeedLimitControl @3;
-  setCurveSpeedControl @4;
-  setVisionCurveSpeedControl @5;
-  setLogLevel @6;
-  setVisionCurveTargetLatA @7;
-  setVisionCurveMinTargetV @8;
-  reloadSettings @9;
-  saveSettings @10;
-  setEnableSpeed @11;
-  setVisionCurveUseEnableSpeed @12;
-  setCurveUseEnableSpeed @13;
-  setSpeedLimitUseEnableSpeed @14;
-  setHoldLastSeenSpeedLimit @15;
-  setCurveTargetJerk @16;
-  setCurveTargetAccel @17;
-  setCurveTargetOffset @18;
-  setDefaultLaneWidth @19;
-  setCurveTargetLatA @20;
-  loadDefaultSettings @21;
-  loadRecommendedSettings @22;
-  setSlowDownForNextSpeedLimit @23;
-  setSpeedUpForNextSpeedLimit @24;
-  setHoldSpeedLimitWhileChangingSetSpeed @25;
-}
-
-enum SpeedLimitOffsetType {
-  static @0;
-  percent @1;
-}
-
-struct MapdIn @0xc86a3d38d13eb3ef {
-  type @0 :MapdInputType;
-  float @1 :Float32;
-  str @2 :Text;
-  bool @3 :Bool;
-}
-
-enum RoadContext {
-  freeway @0;
-  city @1;
-  unknown @2;
-}
-
-struct MapdOut @0xa4f1eb3323f5f582 {
-  wayName @0 :Text;
-  wayRef @1 :Text;
-  roadName @2 :Text;
-  speedLimit @3 :Float32;
-  nextSpeedLimit @4 :Float32;
-  nextSpeedLimitDistance @5 :Float32;
-  hazard @6 :Text;
-  nextHazard @7 :Text;
-  nextHazardDistance @8 :Float32;
-  advisorySpeed @9 :Float32;
-  nextAdvisorySpeed @10 :Float32;
-  nextAdvisorySpeedDistance @11 :Float32;
-  oneWay @12 :Bool;
-  lanes @13 :UInt8;
-  tileLoaded @14 :Bool;
-  speedLimitOffset @15 :Float32;
-  suggestedSpeed @16 :Float32;
-  estimatedRoadWidth @17 :Float32;
-  roadContext @18 :RoadContext;
-  distanceFromWayCenter @19 :Float32;
-  visionCurveSpeed @20 :Float32;
-  curveSpeed @21 :Float32;
+struct CustomReserved19 @0xa4f1eb3323f5f582 {
 }
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2639,9 +2639,9 @@ struct Event {
    customReserved14 @140 :Custom.CustomReserved14;
    customReserved15 @141 :Custom.CustomReserved15;
    customReserved16 @142 :Custom.CustomReserved16;
-    mapdExtendedOut @143 :Custom.MapdExtendedOut;
-    mapdIn @144 :Custom.MapdIn;
-    mapdOut @145 :Custom.MapdOut;
+    customReserved17 @143 :Custom.CustomReserved17;
+    customReserved18 @144 :Custom.CustomReserved18;
+    customReserved19 @145 :Custom.CustomReserved19;

    # *********** legacy + deprecated ***********
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -91,7 +91,6 @@ _services: dict[str, tuple] = {
  "modelDataV2SP": (True, 20.),
  "navigationd": (True, 3.),
  "liveLocationKalman": (True, 20.),
-  "mapdOut": (True, 20., 20),

  # debug
  "uiDebug": (True, 0., 1),
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -130,8 +130,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"Version", {PERSISTENT, STRING}},

    // --- sunnypilot params --- //
-    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
-    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -148,7 +146,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
-    {"DynamicFollow", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -171,18 +168,18 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-
-    // toyota specific params
-    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracksDelay", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"VisualWideCam", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyle", {PERSISTENT | BACKUP, INT, "0"}},
+    {"VisualStyleZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverhead", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadThreshold", {PERSISTENT | BACKUP, INT, "20"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -239,9 +236,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},

-
-	  // mapd v020
-	  {"MapdSettings", {PERSISTENT | BACKUP, JSON}},
    // mapd
    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
    {"MapdVersion", {PERSISTENT, STRING}},
--- a/2
+++ b/2
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -10,7 +10,7 @@ from cereal import car, log, custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
+
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
@@ -123,13 +123,7 @@ class Car:
      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
      self.RI = RI

-    # set alternative experiences from parameters
-    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
    self.CP.alternativeExperience = 0
-    if sp_toyota_auto_brake_hold:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-
-
    # mads
    set_alternative_experience(self.CP, self.CP_SP, self.params)
    set_car_specific_params(self.CP, self.CP_SP, self.params)
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -58,7 +58,7 @@ class DesireHelper:
  def get_lane_change_direction(CS):
    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right

-  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected, right_edge_detected):
+  def update(self, carstate, lateral_active, lane_change_prob):
    self.alc.update_params()
    self.lane_turn_controller.update_params()
    v_ego = carstate.vEgo
@@ -90,8 +90,8 @@ class DesireHelper:
                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                          (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))

-        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
-                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))

        self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)

--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -10,8 +10,6 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU

-from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelPersonalityController
-from openpilot.sunnypilot.selfdrive.controls.lib.dynamic_personality.dynamic_follow import FollowDistanceController
 if __name__ == '__main__':  # generating code
  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
@@ -230,8 +228,6 @@ class LongitudinalMpc:
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
    self.source = SOURCES[2]
-    self.accel_controller = AccelPersonalityController()
-    self.dynamic_follow = FollowDistanceController()

  def reset(self):
    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
@@ -332,27 +328,10 @@ class LongitudinalMpc:
    return lead_xv

  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+    t_follow = get_T_FOLLOW(personality)
    v_ego = self.x0[1]
-
-    if self.dynamic_follow.is_enabled():
-      t_follow = self.dynamic_follow.get_follow_distance_multiplier(v_ego)
-      #print(f"DEBUG: dynamic_follow enabled, t_follow={t_follow:.3f}, v_ego={v_ego:.2f}, v_cruise={v_cruise:.2f}")
-    else:
-      t_follow = get_T_FOLLOW(personality)
-      #print(f"DEBUG: dynamic_follow disabled, using personality t_follow={t_follow:.3f}, personality={personality}")
-
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status

-    # Get acceleration limits
-    if self.accel_controller.is_enabled():
-      min_accel = self.accel_controller.get_min_accel(v_ego)
-      #print(f"DEBUG: accel_enabled=True, min_accel={min_accel:.3f}")
-    else:
-      min_accel = CRUISE_MIN_ACCEL
-      #print(f"DEBUG: accel_enabled=False, using stock min_accel={min_accel}")
-
-    a_cruise_min = min_accel
-
    lead_xv_0 = self.process_lead(radarstate.leadOne)
    lead_xv_1 = self.process_lead(radarstate.leadTwo)

@@ -371,7 +350,7 @@ class LongitudinalMpc:

      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
      # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
+      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
      # TODO does this make sense when max_a is negative?
      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -124,13 +124,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

    if mode == 'acc':
-      if self.accel_controller.is_enabled():
-        max_accel = self.accel_controller.get_max_accel(v_ego)
-        #print(f"Vibe personality active - max accel: {max_accel:.3f}")
-        accel_clip = [ACCEL_MIN, max_accel]
-      else:
-        accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
-
+      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
    else:
@@ -155,10 +149,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)

-    if sm.valid['mapdOut']:
-      if sm['mapdOut'].suggestedSpeed > 0 and v_cruise > sm['mapdOut'].suggestedSpeed:
-        v_cruise = sm['mapdOut'].suggestedSpeed
-
    if force_slow_decel:
      v_cruise = 0.0

--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -27,12 +27,12 @@ def main():
  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', 'mapdOut', gps_location_service],
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
                           poll='carState')

  while True:
    sm.update()
-    #longitudinal_planner.sla.update_car_state(sm['carState'])
+    longitudinal_planner.sla.update_car_state(sm['carState'])
    if sm.updated['modelV2']:
      longitudinal_planner.update(sm)
      longitudinal_planner.publish(sm, pm)
--- a/selfdrive/mapd
+++ b/selfdrive/mapd
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -51,8 +51,8 @@ def tg_compile(flags, model_name):
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
  flags = {
    'larch64': 'DEV=QCOM',
-    'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
-  }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
+    'Darwin': 'DEV=CPU IMAGE=0',
+  }.get(arch, 'DEV=LLVM IMAGE=0')
  tg_compile(flags, model_name)

 # Compile BIG model if USB GPU is available
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
 from tinygrad.tensor import Tensor
 from tinygrad.dtype import dtypes
 import math
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
  os.environ['DEV'] = 'AMD'
@@ -33,7 +33,7 @@ from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
+

 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -298,7 +298,6 @@ def main(demo=False):
  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))

  while True:
    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -396,10 +395,7 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
-      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
-      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -230,8 +230,8 @@ class SelfdriveD(CruiseHelper):

      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
      if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
-            (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
-            (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
+        (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
+        (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
        self.events.add(EventName.pedalPressed)

    # Create events for temperature, disk space, and memory
@@ -292,15 +292,9 @@ class SelfdriveD(CruiseHelper):
    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
      direction = self.sm['modelV2'].meta.laneChangeDirection
-      mdv2sp = self.sm['modelDataV2SP']
-
      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
        (CS.rightBlindspot and direction == LaneChangeDirection.right):
        self.events.add(EventName.laneChangeBlocked)
-
-      elif mdv2sp.leftLaneChangeEdgeBlock or mdv2sp.rightLaneChangeEdgeBlock:
-        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
-
      else:
        if direction == LaneChangeDirection.left:
          self.events.add(EventName.preLaneChangeLeft)
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -33,42 +33,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/experimental_white.svg",
      false,
    },
-    {
-      "ToyotaDriveMode",
-      tr("Enable drive mode btn link"),
-      tr("Links cars drive mode btn with accel personalities based on personality (i.e., relaxed, standard, sport)"),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
-    {
-      "ToyotaAutoHold",
-      tr("Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS"),
-      tr("As you may auto brake hold currently supported by openpilot, this feature will allow sunnypilot to automatically hold the vehicle at a stop when the lead car is stopped. (TSS2 Hybird only)"),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
-    {
-      "ToyotaEnhancedBsm",
-      tr("Toyota: Prius TSS2 BSM and some tssp"),
-      tr("Add support for BSM."),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
-    {
-      "ToyotaTSS2Long",
-      tr("Toyota: custom tune"),
-      tr("idk something gas and brake"),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
-    {
-      "ToyotaStockLongitudinal",
-      tr("Toyota: Stock Toyota Longitudinal"),
-      tr("This feature will allow sunnypilot to use the stock Toyota longitudinal control instead of the sunnypilot longitudinal control. "
-         ""),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
    {
      "DisengageOnAccelerator",
      tr("Disengage on Accelerator Pedal"),
@@ -121,15 +85,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                             "your steering wheel distance button."),
                                          "../assets/icons/speed_limit.png",
                                          longi_button_texts);
-  // accel controller
-  std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco")};
-  accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
-                                          tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
-                                             "In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
-                                             "acceleration personality within Onroad Settings on the driving screen."),
-                                          "",
-                                          accel_personality_texts);
-  accel_personality_setting->showDescription();
+
  // set up uiState update for personality setting
  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);

@@ -157,7 +113,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
    // insert longitudinal personality after NDOG toggle
    if (param == "DisengageOnAccelerator") {
      addItem(long_personality_setting);
-      addItem(accel_personality_setting);
    }
  }

@@ -178,13 +133,6 @@ void TogglesPanel::updateState(const UIState &s) {
    }
    uiState()->scene.personality = personality;
  }
-  if (sm.updated("longitudinalPlanSP")) {
-    auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
-    if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
-      accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
-    }
-    uiState()->scene.accel_personality = accel_personality;
-  }
 }

 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -231,12 +179,10 @@ void TogglesPanel::updateToggles() {
      experimental_mode_toggle->setEnabled(true);
      experimental_mode_toggle->setDescription(e2e_description);
      long_personality_setting->setEnabled(true);
-      accel_personality_setting->setEnabled(true);
    } else {
      // no long for now
      experimental_mode_toggle->setEnabled(false);
      long_personality_setting->setEnabled(false);
-      accel_personality_setting->setEnabled(true);
      params.remove("ExperimentalMode");

      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -88,7 +88,6 @@ protected:
  Params params;
  std::map<std::string, ParamControl*> toggles;
  ButtonParamControl *long_personality_setting;
-  ButtonParamControl *accel_personality_setting;

  virtual void updateToggles();
 };
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -25,6 +25,11 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
  // update engageability/experimental mode button
  experimental_btn->updateState(s);
  dmon.updateState(s);
+  if (s.scene.visual_style == 0) {
+    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  } else {
+    setBackgroundColor(QColor(0, 0, 0));
+  }
 }

 void AnnotatedCameraWidget::initializeGL() {
@@ -35,7 +40,12 @@ void AnnotatedCameraWidget::initializeGL() {
  qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));

  prev_draw_t = millis_since_boot();
-  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  auto *s = uiState();
+  if (s->scene.visual_style == 0) {
+    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  } else {
+    setBackgroundColor(QColor(0, 0, 0));
+  }
 }

 mat4 AnnotatedCameraWidget::calcFrameMatrix() {
@@ -118,7 +128,13 @@ void AnnotatedCameraWidget::paintGL() {
      } else if (v_ego > 15) {
        wide_cam_requested = false;
      }
-      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+      if (s->scene.visual_wide_cam == 1) {
+        wide_cam_requested = true;
+      } else if (s->scene.visual_wide_cam == 2) {
+        wide_cam_requested = false;
+      } else {
+        wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+      }
    }
    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
    CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -1,4 +1,5 @@
 #include "selfdrive/ui/qt/onroad/model.h"
+#include <algorithm>

 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
  auto *s = uiState();
@@ -22,7 +23,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {

  update_model(model, lead_one);
  drawLaneLines(painter);
-  drawPath(painter, model, surface_rect.height(), surface_rect.width());
+  drawPath(painter, model, surface_rect.height());

  if (longitudinal_control && sm.alive("radarState")) {
    update_leads(radar_state, model.getPosition());
@@ -49,8 +50,14 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
 }

 void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  auto *s = uiState();
  const auto &model_position = model.getPosition();
-  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  float max_distance;
+  if (s->scene.visual_style == 0) {
+    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  } else {
+    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  }

  // update lane lines
  const auto &lane_lines = model.getLaneLines();
@@ -58,7 +65,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
  for (int i = 0; i < std::size(lane_line_vertices); i++) {
    lane_line_probs[i] = line_probs[i];
-    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    if (s->scene.visual_style == 2) {
+      mapLineToPolygon(lane_lines[i], 0.075 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    } else {
+      mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    }
  }

  // update road edges
@@ -66,7 +77,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  const auto &edge_stds = model.getRoadEdgeStds();
  for (int i = 0; i < std::size(road_edge_vertices); i++) {
    road_edge_stds[i] = edge_stds[i];
-    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+    if (s->scene.visual_style == 2) {
+      mapLineToPolygon(road_edges[i], 0.1, 0, &road_edge_vertices[i], max_idx);
+    } else {
+      mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+    }
  }

  // update path
@@ -79,20 +94,116 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
 }

 void ModelRenderer::drawLaneLines(QPainter &painter) {
-  // lanelines
-  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(lane_line_vertices[i]);
-  }
+  auto *s = uiState();
+  if (s->scene.visual_style == 2) {
+    QRectF r = clip_region;

-  // road edges
-  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(road_edge_vertices[i]);
+    qreal horizonY = r.bottom();
+    if (!road_edge_vertices[0].isEmpty() || !road_edge_vertices[1].isEmpty()) {
+      qreal leftH  = r.top();
+      qreal rightH = r.top();
+
+      if (!road_edge_vertices[0].isEmpty()) {
+        leftH = std::numeric_limits<qreal>::max();
+        for (const QPointF &pt : road_edge_vertices[0]) {
+          if (pt.y() < leftH) leftH = pt.y();
+        }
+      }
+
+      if (!road_edge_vertices[1].isEmpty()) {
+        rightH = std::numeric_limits<qreal>::max();
+        for (const QPointF &pt : road_edge_vertices[1]) {
+          if (pt.y() < rightH) rightH = pt.y();
+        }
+      }
+
+      horizonY = std::max(leftH, rightH);
+    }
+
+    painter.fillRect(QRectF(r.left(), horizonY + 0, r.width(), r.bottom() - (horizonY + 0)), QColor("#111111"));
+
+    auto buildFill = [&](const QPolygonF &edgeRibbon, bool isLeftSide) -> QPolygonF {
+      if (edgeRibbon.isEmpty()) return {};
+
+      QMap<int, QPointF> byY;
+      for (const QPointF &pt : edgeRibbon) {
+        int yi = int(std::round(pt.y()));
+        if (!byY.contains(yi)) {
+          byY[yi] = pt;
+        } else {
+          if (isLeftSide) {
+            if (pt.x() > byY[yi].x()) byY[yi] = pt;
+          } else {
+            if (pt.x() < byY[yi].x()) byY[yi] = pt;
+          }
+        }
+      }
+      if (byY.isEmpty()) return {};
+
+      QPolygonF curve;
+      for (auto it = byY.cbegin(); it != byY.cend(); ++it) {
+        curve << it.value();
+      }
+      if (curve.size() < 2) return {};
+
+      const qreal topY = curve.first().y();
+      QPolygonF fill;
+      if (isLeftSide) {
+        fill << QPointF(r.left(), topY);
+        for (const QPointF &pt : curve) fill << pt;
+        fill << QPointF(r.left(), r.bottom());
+      } else {
+        fill << QPointF(r.right(), topY);
+        for (const QPointF &pt : curve) fill << pt;
+        fill << QPointF(r.right(), r.bottom());
+      }
+      return fill;
+    };
+
+    QPolygonF leftFill  = buildFill(road_edge_vertices[0], true);
+    QPolygonF rightFill = buildFill(road_edge_vertices[1], false);
+
+    if (!leftFill.isEmpty()) {
+      painter.setBrush(QColor("#222222"));
+      painter.drawPolygon(leftFill);
+    }
+    if (!rightFill.isEmpty()) {
+      painter.setBrush(QColor("#222222"));
+      painter.drawPolygon(rightFill);
+    }
+
+    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(0.902, 0.902, 0.902, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+      painter.drawPolygon(lane_line_vertices[i]);
+    }
+
+    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+      painter.setBrush(QColor(0x55, 0x55, 0x55, 255));
+      painter.drawPolygon(road_edge_vertices[i]);
+    }
+
+    QLinearGradient bgGrad(r.left(), horizonY - 100, r.left(), horizonY + 100);
+    bgGrad.setColorAt(0.0, QColor("#000000"));
+    bgGrad.setColorAt(0.5, QColor("#111111"));
+    bgGrad.setColorAt(1.0, QColor("#111111"));
+    painter.fillRect(QRectF(r.left(), horizonY - 200, r.width(), 200), bgGrad);
+
+  } else {
+    // lanelines
+    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+      painter.drawPolygon(lane_line_vertices[i]);
+    }
+
+    // road edges
+    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
+      painter.drawPolygon(road_edge_vertices[i]);
+    }
  }
 }

-void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height, int width) {
+void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
  QLinearGradient bg(0, height, 0, 0);
  if (experimental_mode) {
    // The first half of track_vertices are the points for the right side of the path
@@ -127,9 +238,6 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade

  painter.setBrush(bg);
  painter.drawPolygon(track_vertices);
-
-  //LongFuel(painter,height, width);
-  //LateralFuel(painter, height, width);
 }

 void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
@@ -176,197 +284,9 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
      (1 - t) * start.alphaF() + t * end.alphaF());
 }

-void ModelRenderer::drawGaugeBackground(QPainter &painter, qreal centerX, qreal centerY) {
-    const qreal backgroundSize = GAUGE_SIZE * BACKGROUND_SIZE_MULTIPLIER;
-
-    // Draw circular background
-    painter.setPen(Qt::NoPen);
-    painter.setBrush(BACKGROUND_COLOR);
-    painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2, backgroundSize / 2);
-
-    // Draw border
-    QPen borderPen(BORDER_COLOR);
-    borderPen.setWidth(BORDER_PEN_WIDTH);
-    painter.setPen(borderPen);
-    painter.drawEllipse(QPointF(centerX, centerY), backgroundSize / 2 + 1, backgroundSize / 2 + 1);
-
-    // Draw background semicircle
-    QPen semicirclePen(GAUGE_BACKGROUND_COLOR);
-    semicirclePen.setWidth(GAUGE_PEN_WIDTH);
-    semicirclePen.setCapStyle(Qt::RoundCap);
-    painter.setPen(semicirclePen);
-    painter.drawArc(QRectF(centerX - GAUGE_SIZE / 2, centerY - GAUGE_SIZE / 2,
-                          GAUGE_SIZE, GAUGE_SIZE), 0, SEMICIRCLE_SPAN);
-}
-
-QColor ModelRenderer::getIndicatorColor(float absoluteValue, float lowThreshold, float highThreshold) {
-    if (absoluteValue < lowThreshold) {
-        return LOW_INDICATOR_COLOR;
-    } else if (absoluteValue < highThreshold) {
-        return MODERATE_INDICATOR_COLOR;
-    } else {
-        return HIGH_INDICATOR_COLOR;
-    }
-}
-
-int ModelRenderer::calculateSpanAngle(float absoluteValue, float maxValue) {
-    const int spanAngle = static_cast<int>(QUARTER_CIRCLE_SPAN * (absoluteValue / maxValue));
-    return std::clamp(spanAngle, 0, QUARTER_CIRCLE_SPAN);
-}
-
-void ModelRenderer::drawGaugeArc(QPainter &painter, qreal centerX, qreal centerY,
-                                float value, bool isPositive, const QString &label) {
-    const float absoluteValue = std::abs(value);
-
-    if (absoluteValue <= MIN_THRESHOLD) {
-        return; // Skip drawing if value is too small
-    }
-
-    // Set up the arc rectangle
-    const QRectF arcRect(centerX - GAUGE_SIZE / 2, centerY - GAUGE_SIZE / 2,
-                        GAUGE_SIZE, GAUGE_SIZE);
-
-    // Configure pen for the indicator arc
-    QPen indicatorPen;
-    indicatorPen.setWidth(GAUGE_PEN_WIDTH);
-    indicatorPen.setCapStyle(Qt::RoundCap);
-    painter.setPen(indicatorPen);
-
-    // Draw the arc based on direction
-    const int spanAngle = calculateSpanAngle(absoluteValue, 1.0f); // Adjust max value as needed
-    if (isPositive) {
-        painter.drawArc(arcRect, STARTING_ANGLE, spanAngle);
-    } else {
-        painter.drawArc(arcRect, STARTING_ANGLE, -spanAngle);
-    }
-
-    // Draw center label
-    painter.setPen(Qt::white);
-    QFont font = painter.font();
-    font.setPixelSize(20);
-    font.setBold(true);
-    painter.setFont(font);
-    painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, label);
-}
-
-void ModelRenderer::LongFuel(QPainter &painter, int height, int width) {
-    const qreal rectWidth = static_cast<qreal>(width);
-    const qreal rectHeight = static_cast<qreal>(height);
-
-    UIState *s = uiState();
-    if (!s || !s->sm) {
-        return; // Safety check
-    }
-
-    // Get current acceleration
-    const float currentAcceleration = (*s->sm)["carControl"].getCarControl().getActuators().getAccel();
-    const float absoluteAcceleration = std::abs(currentAcceleration);
-
-    // Calculate gauge position
-    const qreal centerX = rectWidth / 17;
-    const qreal centerY = rectHeight / 2 + 120;
-
-    // Draw gauge background
-    drawGaugeBackground(painter, centerX, centerY);
-
-    // Skip drawing arc if acceleration is too small
-    if (absoluteAcceleration <= MIN_THRESHOLD) {
-        drawGaugeArc(painter, centerX, centerY, 0.0f, true, "LONG");
-        return;
-    }
-
-    // Determine indicator color based on acceleration magnitude
-    const QColor indicatorColor = getIndicatorColor(absoluteAcceleration, 0.3f, 0.6f);
-
-    // Calculate span angle (scale for better visibility)
-    const int spanAngle = static_cast<int>(QUARTER_CIRCLE_SPAN * absoluteAcceleration);
-    const int clampedSpanAngle = std::clamp(spanAngle, 0, QUARTER_CIRCLE_SPAN);
-
-    // Draw the acceleration arc
-    QPen indicatorPen(indicatorColor);
-    indicatorPen.setWidth(GAUGE_PEN_WIDTH);
-    indicatorPen.setCapStyle(Qt::RoundCap);
-    painter.setPen(indicatorPen);
-
-    const QRectF arcRect(centerX - GAUGE_SIZE / 2, centerY - GAUGE_SIZE / 2,
-                        GAUGE_SIZE, GAUGE_SIZE);
-
-    // Draw arc based on acceleration direction
-    if (currentAcceleration > 0) {
-        painter.drawArc(arcRect, STARTING_ANGLE, -clampedSpanAngle); // Left side for positive
-    } else {
-        painter.drawArc(arcRect, STARTING_ANGLE, clampedSpanAngle);  // Right side for negative
-    }
-
-    // Draw center label
-    painter.setPen(Qt::white);
-    QFont font = painter.font();
-    font.setPixelSize(20);
-    font.setBold(true);
-    painter.setFont(font);
-    painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, "LONG");
-}
-
-void ModelRenderer::LateralFuel(QPainter &painter, int height, int width) {
-    const qreal rectWidth = static_cast<qreal>(width);
-    const qreal rectHeight = static_cast<qreal>(height);
-
-    UIState *s = uiState();
-    if (!s || !s->sm) {
-        return; // Safety check
-    }
-
-    // Get current steering angle
-    const float currentLateral = (*s->sm)["carState"].getCarState().getSteeringAngleDeg();
-    const float absoluteLateral = std::abs(currentLateral);
-
-    // Calculate gauge position
-    const qreal centerX = rectWidth / 17;
-    const qreal centerY = rectHeight / 2 - 120;
-
-    // Draw gauge background
-    drawGaugeBackground(painter, centerX, centerY);
-
-    // Skip drawing arc if lateral force is too small
-    if (absoluteLateral <= 0.1f) {
-        drawGaugeArc(painter, centerX, centerY, 0.0f, true, "LAT");
-        return;
-    }
-
-    // Determine indicator color based on lateral force magnitude
-    const QColor indicatorColor = getIndicatorColor(absoluteLateral, 5.0f, 15.0f);
-
-    // Calculate span angle (normalized to max expected steering angle)
-    const float maxSteeringAngle = 15.0f; // Adjust based on your vehicle's characteristics
-    const int spanAngle = static_cast<int>(QUARTER_CIRCLE_SPAN * (absoluteLateral / maxSteeringAngle));
-    const int clampedSpanAngle = std::clamp(spanAngle, 0, QUARTER_CIRCLE_SPAN);
-
-    // Draw the lateral arc
-    QPen indicatorPen(indicatorColor);
-    indicatorPen.setWidth(GAUGE_PEN_WIDTH);
-    indicatorPen.setCapStyle(Qt::RoundCap);
-    painter.setPen(indicatorPen);
-
-    const QRectF arcRect(centerX - GAUGE_SIZE / 2, centerY - GAUGE_SIZE / 2,
-                        GAUGE_SIZE, GAUGE_SIZE);
-
-    // Draw arc based on steering direction
-    if (currentLateral < 0) {
-        painter.drawArc(arcRect, STARTING_ANGLE, -clampedSpanAngle); // Left turn
-    } else {
-        painter.drawArc(arcRect, STARTING_ANGLE, clampedSpanAngle);  // Right turn
-    }
-
-    // Draw center label
-    painter.setPen(Qt::white);
-    QFont font = painter.font();
-    font.setPixelSize(20);
-    font.setBold(true);
-    painter.setFont(font);
-    painter.drawText(QRectF(centerX - 50, centerY + 10, 100, 20), Qt::AlignCenter, "LAT");
-}
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
+  auto *s = uiState();
  const float speedBuff = 10.;
  const float leadBuff = 40.;
  const float d_rel = lead_data.getDRel();
@@ -389,20 +309,133 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
  float g_yo = sz / 10;

  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  painter.setBrush(QColor(218, 202, 37, 255));
+  if (s->scene.visual_style == 2) {
+    painter.setBrush(QColor(0xE6, 0xE6, 0xE6, 255));
+  } else {
+    painter.setBrush(QColor(218, 202, 37, 255));
+  }
  painter.drawPolygon(glow, std::size(glow));

  // chevron
  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  if (s->scene.visual_style == 2) {
+    painter.setBrush(QColor(0, 0, 0, fillAlpha));
+  } else {
+    painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  }
  painter.drawPolygon(chevron, std::size(chevron));
 }

-// Projects a point in car to space to the corresponding point in full frame image space.
+float mapRange(float x, float in_min, float in_max, float out_min, float out_max) {
+  if (in_min < in_max) {
+    x = std::clamp(x, in_min, in_max);
+  } else {
+    x = std::clamp(x, in_max, in_min);
+  }
+  return out_min + (x - in_min) * (out_max - out_min) / (in_max - in_min);
+}
+
+// Projects a point in car space to the corresponding point in full frame image space.
 bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  float blend_speed_mph = fabsf(sm["carState"].getCarState().getVEgo() * 2.23694f);
+
  Eigen::Vector3f input(in_x, in_y, in_z);
+
+  if ((s->scene.visual_style_zoom == 1 || s->scene.visual_style_zoom == 2) && s->scene.visual_style != 0) {
+    float zoom_start = 20.0f;
+    float zoom_end   = 50.0f;
+
+    if (s->scene.visual_style_zoom == 2) {
+      std::swap(zoom_start, zoom_end);
+    }
+
+    float IN_X_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 24.0f);
+    float IN_Y_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 1.0f, 2.0f);
+    float IN_Z_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
+    float PITCH_DEG   = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
+
+    input = Eigen::Vector3f(in_x + IN_X_OFFSET, in_y / IN_Y_OFFSET, in_z + IN_Z_OFFSET);
+    Eigen::AngleAxisf pitch_rot(PITCH_DEG * M_PI / 180.0f, Eigen::Vector3f::UnitY());
+    input = pitch_rot * input;
+  }
+
  auto pt = car_space_transform * input;
-  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  bool normal_valid = (pt.z() > 1e-3f &&
+                       std::isfinite(pt.x()) && std::isfinite(pt.y()));
+  QPointF normal_view;
+  if (normal_valid) {
+    normal_view = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  }
+
+  const float base_scale_x = 20.0f;
+  const float base_scale_y = 15.0f;
+  const float y_offset = 450.0f;
+
+  float factor_scale_x = 0.0f;
+  if (blend_speed_mph > 0.0f) {
+    if (s->scene.visual_style_overhead_zoom == 1) {
+      factor_scale_x = mapRange(blend_speed_mph, 0.0f, 50.0f, 30.0f, 0.0f);
+    } else if (s->scene.visual_style_overhead_zoom == 2) {
+      factor_scale_x = mapRange(blend_speed_mph, 50.0f, 0.0f, 30.0f, 0.0f);
+    }
+  }
+
+  float scale_x = base_scale_x + factor_scale_x;
+  float scale_y = base_scale_y;
+
+  QPointF topdown_view(
+    clip_region.center().x() + in_y * scale_x,
+    (clip_region.bottom() - y_offset) - in_x * scale_y
+  );
+
+  if ((s->scene.visual_style_overhead == 1 || s->scene.visual_style_overhead == 2) && s->scene.visual_style != 0) {
+    static float blend = 0.0f;
+    static float target_blend = 0.0f;
+    static double last_t = millis_since_boot();
+
+    const bool inverted = (s->scene.visual_style_overhead == 2);
+    const float threshold = s->scene.visual_style_overhead_threshold;
+    const float hysteresis = 5.0f;
+
+    if (!inverted) {
+      if (target_blend < 0.5f && blend_speed_mph > threshold) {
+        target_blend = 1.0f;
+      } else if (target_blend > 0.5f && blend_speed_mph < threshold - hysteresis) {
+        target_blend = 0.0f;
+      }
+    } else {
+      if (target_blend < 0.5f && blend_speed_mph < threshold) {
+        target_blend = 1.0f;
+      } else if (target_blend > 0.5f && blend_speed_mph > threshold + hysteresis) {
+        target_blend = 0.0f;
+      }
+    }
+
+    double now = millis_since_boot();
+    double dt = (now - last_t) / 1000.0;
+    last_t = now;
+
+    const float transition_time = 1.50f;
+    float step = dt / transition_time;
+
+    if (blend < target_blend) {
+      blend = std::min(blend + step, target_blend);
+    } else if (blend > target_blend) {
+      blend = std::max(blend - step, target_blend);
+    }
+
+    if (!normal_valid) return false;
+    *out = QPointF(
+      (1 - blend) * normal_view.x() + blend * topdown_view.x(),
+      (1 - blend) * normal_view.y() + blend * topdown_view.y()
+    );
+  } else {
+    if (!normal_valid) return false;
+    *out = normal_view;
+  }
+
  return clip_region.contains(*out);
 }

--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -29,8 +29,6 @@ public:
  ModelRenderer() {}
  void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
  void draw(QPainter &painter, const QRect &surface_rect);
-  void LongFuel(QPainter &p, int height, int width);
-  void LateralFuel(QPainter &p, int height, int width);

 protected:
  bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
@@ -40,16 +38,7 @@ protected:
  void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
  void drawLaneLines(QPainter &painter);
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height, int width);
-
-  // Gauge helper methods
-  void drawGaugeBackground(QPainter &painter, qreal centerX, qreal centerY);
-  void drawGaugeArc(QPainter &painter, qreal centerX, qreal centerY,
-                    float value, bool isPositive, const QString &label);
-  QColor getIndicatorColor(float absoluteValue, float lowThreshold, float highThreshold);
-  int calculateSpanAngle(float absoluteValue, float maxValue);
-
-
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
  void updatePathGradient(QLinearGradient &bg);
  QColor blendColors(const QColor &start, const QColor &end, float t);

@@ -66,22 +55,4 @@ protected:
  QPointF lead_vertices[2] = {};
  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
  QRectF clip_region;
-
-  // Gauge configuration constants
-  static constexpr qreal GAUGE_SIZE = 140.0;
-  static constexpr qreal BACKGROUND_SIZE_MULTIPLIER = 1.4;
-  static constexpr qreal GAUGE_PEN_WIDTH = 30.0;
-  static constexpr qreal BORDER_PEN_WIDTH = 2.0;
-  static constexpr int SEMICIRCLE_SPAN = 180 * 16;
-  static constexpr int QUARTER_CIRCLE_SPAN = 90 * 16;
-  static constexpr int STARTING_ANGLE = 90 * 16;
-  static constexpr qreal MIN_THRESHOLD = 0.01;
-
-  // Color constants - Note: QColor cannot be constexpr, use inline static const instead
-  inline static const QColor BACKGROUND_COLOR = QColor(0, 0, 0, 80);
-  inline static const QColor BORDER_COLOR = QColor(0, 0, 0, 100);
-  inline static const QColor GAUGE_BACKGROUND_COLOR = QColor(50, 50, 50);
-  inline static const QColor LOW_INDICATOR_COLOR = QColor(23, 241, 66, 200);
-  inline static const QColor MODERATE_INDICATOR_COLOR = QColor(255, 166, 0, 200);
-  inline static const QColor HIGH_INDICATOR_COLOR = QColor(245, 0, 0, 200);
 };
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -196,6 +196,7 @@ mat4 CameraWidget::calcFrameMatrix() {
 }

 void CameraWidget::paintGL() {
+  auto *s = uiState();
  glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

@@ -248,7 +249,9 @@ void CameraWidget::paintGL() {

  glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
  glEnableVertexAttribArray(0);
-  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
+  if (s->scene.visual_style == 0) {
+    glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
+  }
  glDisableVertexAttribArray(0);
  glBindVertexArray(0);
  glBindTexture(GL_TEXTURE_2D, 0);
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
@@ -36,7 +36,7 @@ DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
  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);
+                                   "", {999999, 1000000}, 1000000, true, nullptr, false);

  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
    refresh();
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
@@ -33,12 +33,6 @@ LaneChangeSettings::LaneChangeSettings(QWidget* parent) : QWidget(parent) {
      tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
      "../assets/offroad/icon_blank.png",
    },
-    {
-      "RoadEdgeLaneChangeEnabled",
-      tr("Block Lane Change: Road Edge Detection"),
-      tr("Enable this toggle to block lane change when road edge is detected on the stalk actuated side."),
-      "../assets/offroad/icon_blank.png",
-    }
  };

  // Controls: Auto Lane Change Timer
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -75,22 +75,6 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {

  QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);

-  // Acceleration Personality
-  AccelPersonalityControl = new ParamControlSP("AccelPersonalityEnabled",
-    tr("Acceleration Personality"),
-    tr("Controls acceleration behavior: Eco (efficient), Normal (balanced), Sport (responsive). "
-      "Adjust how aggressively the vehicle accelerates while maintaining smooth operation."),
-    "../assets/offroad/icon_shell.png");
-  list->addItem(AccelPersonalityControl);
-
-  // Dynamic Personality
-  DynamicPersonalityControl = new ParamControlSP("DynamicFollow",
-    tr("Following Distance Personality"),
-    tr("Controls following distance and braking behavior: Relaxed (longer distance, gentler braking), Standard (balanced), Aggressive (shorter distance, firmer braking). "
-      "Fine-tune your comfort level in traffic situations."),
-    "../assets/offroad/icon_shell.png");
-  list->addItem(DynamicPersonalityControl);
-
  speedLimitSettings = new PushButtonSP(tr("Speed Limit"), 750, this);
  connect(speedLimitSettings, &QPushButton::clicked, [&]() {
    cruisePanelScroller->setLastScrollPosition();
@@ -180,10 +164,6 @@ void LongitudinalPanel::refresh(bool _offroad) {
    dynamicExperimentalControl->refresh();
    SmartCruiseControlVision->refresh();
    SmartCruiseControlMap->refresh();
-    AccelPersonalityControl->setEnabled(true);
-    DynamicPersonalityControl->setEnabled(true);
-    AccelPersonalityControl->refresh();
-    DynamicPersonalityControl->refresh();
  } else {
    has_longitudinal_control = false;
    is_pcm_cruise = false;
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -36,9 +36,6 @@ private:
  ParamControl *SmartCruiseControlMap;
  ParamControl *intelligentCruiseButtonManagement = nullptr;
  ParamControl *dynamicExperimentalControl = nullptr;
-
-  ParamControlSP *AccelPersonalityControl;
-  ParamControlSP *DynamicPersonalityControl;
  SpeedLimitSettings *speedLimitScreen;
  PushButtonSP *speedLimitSettings;
 };
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -11,6 +11,18 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  param_watcher = new ParamWatcher(this);
  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
    paramsRefresh();
+    if (param_name == "VisualStyle") {
+      visual_style_value = param_value.toInt();
+    } else if (param_name == "VisualStyleOverhead") {
+      visual_style_overhead_value = param_value.toInt();
+    } else if (param_name == "VisualRadarTracks") {
+      bool radar_tracks_enabled = param_value.toInt() != 0;
+      visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
+    }
+    visual_style_zoom_settings->setVisible(visual_style_value != 0);
+    visual_style_overhead_settings->setVisible(visual_style_value != 0);
+    visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+    visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
  });

  main_layout = new QStackedLayout(this);
@@ -90,6 +102,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
      "",
      false,
    },
+    {
+      "VisualRadarTracks",
+      tr("Show Radar Tracks"),
+      tr("Shows what the cars radar sees."),
+      "",
+      false,
+    },
  };

  // Add regular toggles first
@@ -116,6 +135,111 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    param_watcher->addParam(param);
  }

+  // Visuals: Radar Tracks Delay
+  visual_radar_tracks_delay_settings = new OptionControlSP("VisualRadarTracksDelay", tr("Adjust Visual Radar Tracks Delay"),
+                                      tr("Delays radar tracks to better match what you see through the camera."),
+                                      "", {0, 100}, 10, false, nullptr, true);
+
+  connect(visual_radar_tracks_delay_settings, &OptionControlSP::updateLabels, [=]() {
+    float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+    visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
+  });
+
+  float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+  visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
+
+  list->addItem(visual_radar_tracks_delay_settings);
+
+  // Wide Cam
+  std::vector<QString> visual_wide_cam_settings_texts{tr("Auto"), tr("On"), tr("Off")};
+  visual_wide_cam_settings = new ButtonParamControlSP(
+    "VisualWideCam", tr("Wide Cam"), tr("Override the wide cam view regardless of experimental mode status."),
+    "",
+    visual_wide_cam_settings_texts,
+    250);
+  list->addItem(visual_wide_cam_settings);
+
+  // Visual Style
+  std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision")};
+  visual_style_settings = new ButtonParamControlSP(
+    "VisualStyle", tr("Visual Style"),
+    tr(
+      "Switch between different on-road visualization layouts."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Default:</b> Standard OpenPilot layout with camera and path view.</li>"
+      "<li><b>Minimal:</b> Clean interface without camera feed or extra elements.</li>"
+      "<li><b>Vision:</b> Experimental layout that focuses on model perception and environment.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_settings_texts,
+    380);
+  list->addItem(visual_style_settings);
+
+  // Visual Style Zoom
+  std::vector<QString> visual_style_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_zoom_settings = new ButtonParamControlSP(
+    "VisualStyleZoom", tr("Visual Style Zoom"),
+    tr(
+      "Enables dynamic zooming based on driving speed in the selected visual style."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps the zoom fixed.</li>"
+      "<li><b>Enabled:</b> Zooms in at low speed and out at high speed.</li>"
+      "<li><b>Inverted:</b> Reverses the zoom behavior.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_zoom_settings_texts,
+    380);
+  list->addItem(visual_style_zoom_settings);
+
+  // Visual Style Overhead
+  std::vector<QString> visual_style_overhead_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_overhead_settings = new ButtonParamControlSP(
+    "VisualStyleOverhead", tr("Visual Style Overhead"),
+    tr(
+      "Toggles an overhead (top-down) camera view for a 2D-style perspective."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps the standard forward 3D view.</li>"
+      "<li><b>Enabled:</b> Switches to overhead view when active.</li>"
+      "<li><b>Inverted:</b> Reverses when the transition happens.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_overhead_settings_texts,
+    380);
+  list->addItem(visual_style_overhead_settings);
+
+  // Visual Style Overhead Zoom
+  std::vector<QString> visual_style_overhead_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_overhead_zoom_settings = new ButtonParamControlSP(
+    "VisualStyleOverheadZoom", tr("Visual Style Overhead Zoom"),
+    tr(
+      "Controls zooming behavior while in overhead mode."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps a fixed zoom level in overhead mode.</li>"
+      "<li><b>Enabled:</b> Zooms dynamically based on speed while overhead.</li>"
+      "<li><b>Inverted:</b> Opposite zoom direction.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_overhead_zoom_settings_texts,
+    380);
+  list->addItem(visual_style_overhead_zoom_settings);
+
+  // Visual Style Overhead Threshold
+  visual_style_overhead_threshold_settings = new OptionControlSP(
+    "VisualStyleOverheadThreshold", tr("Visual Style Overhead Threshold"),
+    tr("Sets the speed (in mph) where the display transitions between normal and overhead view."),
+    "", {10, 80}, 5, false, nullptr, false);
+  auto updateThresholdLabel = [=]() {
+    int mph = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
+    visual_style_overhead_threshold_settings->setLabel(QString("%1 mph").arg(mph));
+  };
+  connect(visual_style_overhead_threshold_settings, &OptionControlSP::updateLabels, updateThresholdLabel);
+  updateThresholdLabel();
+  list->addItem(visual_style_overhead_threshold_settings);
+
  // Visuals: Display Metrics below Chevron
  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
  chevron_info_settings = new ButtonParamControlSP(
@@ -136,6 +260,19 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    380);
  list->addItem(dev_ui_settings);

+  bool radar_tracks_enabled = QString::fromStdString(params.get("VisualRadarTracks")).toInt() != 0;
+  visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
+  param_watcher->addParam("VisualRadarTracks");
+
+  visual_style_value = QString::fromStdString(params.get("VisualStyle")).toInt();
+  visual_style_overhead_value = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
+  visual_style_zoom_settings->setVisible(visual_style_value != 0);
+  visual_style_overhead_settings->setVisible(visual_style_value != 0);
+  visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+  visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+  param_watcher->addParam("VisualStyle");
+  param_watcher->addParam("VisualStyleOverhead");
+
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);

@@ -191,4 +328,19 @@ void VisualsPanel::paramsRefresh() {
  if (dev_ui_settings) {
    dev_ui_settings->refresh();
  }
+  if (visual_wide_cam_settings) {
+    visual_wide_cam_settings->refresh();
+  }
+  if (visual_style_settings) {
+    visual_style_settings->refresh();
+  }
+  if (visual_style_zoom_settings) {
+    visual_style_zoom_settings->refresh();
+  }
+  if (visual_style_overhead_settings) {
+    visual_style_overhead_settings->refresh();
+  }
+  if (visual_style_overhead_zoom_settings) {
+    visual_style_overhead_zoom_settings->refresh();
+  }
 }
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -32,4 +32,14 @@ protected:
 ButtonParamControlSP *dev_ui_settings;

 bool has_longitudinal_control = false;
+
+ OptionControlSP *visual_radar_tracks_delay_settings;
+ ButtonParamControlSP *visual_wide_cam_settings;
+ int visual_style_value = 0;
+ int visual_style_overhead_value = 0;
+ ButtonParamControlSP *visual_style_settings;
+ ButtonParamControlSP *visual_style_zoom_settings;
+ ButtonParamControlSP *visual_style_overhead_settings;
+ ButtonParamControlSP *visual_style_overhead_zoom_settings;
+ OptionControlSP *visual_style_overhead_threshold_settings;
 };
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -44,6 +44,8 @@ void HudRendererSP::updateState(const UIState &s) {
  const auto car_params = sm["carParams"].getCarParams();
  const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
  const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
+  const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
+
  if (sm.updated("carParams")) {
    steerControlType = car_params.getSteerControlType();
  }
@@ -52,80 +54,37 @@ void HudRendererSP::updateState(const UIState &s) {
    pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
  }

-  if (sm.alive("mapdOut") && sm.rcv_frame("mapdOut") > 0) {
-    const auto mapd = sm["mapdOut"].getMapdOut();
-
-    // Road name can come from wayName, wayRef, or roadName
-    wayName = QString::fromStdString(mapd.getWayName());
-    wayRef = QString::fromStdString(mapd.getWayRef());
-    QString mapdRoadName = QString::fromStdString(mapd.getRoadName());
-
-    if (!mapdRoadName.isEmpty()) {
-      roadNameStr = mapdRoadName;
-    } else if (!wayRef.isEmpty() && !wayName.isEmpty()) {
-      roadNameStr = wayRef + " - " + wayName;
-    } else if (!wayName.isEmpty()) {
-      roadNameStr = wayName;
-    } else if (!wayRef.isEmpty()) {
-      roadNameStr = wayRef;
-    } else {
-      roadNameStr = "";
-    }
-
+  if (sm.updated("longitudinalPlanSP")) {
+    speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+    speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
+    speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+    speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
+    speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
+    speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+    speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
+    speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
+    speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
+    smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+    smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+    smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
+    smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+  }
  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();

-    tileLoaded = mapd.getTileLoaded();
-
-    float mapdSpeedLimitRaw = mapd.getSpeedLimit();
-    float mapdOffsetRaw = mapd.getSpeedLimitOffset();
-
-
-    mapdSpeedLimit = mapdSpeedLimitRaw * speedConv;
-    speedLimit = mapdSpeedLimit;
-    speedLimitLast = mapdSpeedLimit;
-    speedLimitOffset = mapdOffsetRaw * speedConv;
-    speedLimitValid = tileLoaded && mapdSpeedLimitRaw > 0;
-    speedLimitLastValid = speedLimitValid;
-    speedLimitFinalLast = mapdSpeedLimit + speedLimitOffset;
-
-    if (tileLoaded) {
-      speedLimitSource = 1;  // MAP
-    } else {
-      speedLimitSource = 0;  // NONE
-    }
-
-    float nextSpeedLimitRaw = mapd.getNextSpeedLimit();
-    speedLimitAheadValid = nextSpeedLimitRaw > 0 && tileLoaded;
-    speedLimitAhead = nextSpeedLimitRaw * speedConv;
-    speedLimitAheadDistance = mapd.getNextSpeedLimitDistance();
-
+  if (sm.updated("liveMapDataSP")) {
+    roadNameStr = QString::fromStdString(lmd.getRoadName());
+    speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
+    speedLimitAhead = lmd.getSpeedLimitAhead() * speedConv;
+    speedLimitAheadDistance = lmd.getSpeedLimitAheadDistance();
    if (speedLimitAheadDistance < speedLimitAheadDistancePrev && speedLimitAheadValidFrame < SPEED_LIMIT_AHEAD_VALID_FRAME_THRESHOLD) {
      speedLimitAheadValidFrame++;
    } else if (speedLimitAheadDistance > speedLimitAheadDistancePrev && speedLimitAheadValidFrame > 0) {
      speedLimitAheadValidFrame--;
    }
-
-    // SCC data from mapd
-    suggestedSpeed = mapd.getSuggestedSpeed() * speedConv;
-    visionCurveSpeed = mapd.getVisionCurveSpeed() * speedConv;
-    curveSpeed = mapd.getCurveSpeed() * speedConv;
-
-    smartCruiseControlVisionEnabled = visionCurveSpeed > 0;
-    smartCruiseControlVisionActive = visionCurveSpeed > 0 && visionCurveSpeed < speedLimit;
-
-    smartCruiseControlMapEnabled = curveSpeed > 0;
-    smartCruiseControlMapActive = curveSpeed > 0 && curveSpeed < speedLimit;
-
-    advisorySpeed = mapd.getAdvisorySpeed() * speedConv;
-    nextAdvisorySpeed = mapd.getNextAdvisorySpeed() * speedConv;
-    nextAdvisorySpeedDistance = mapd.getNextAdvisorySpeedDistance();
  }
  speedLimitAheadDistancePrev = speedLimitAheadDistance;

-  speedLimitAssistState = 0;
-  speedLimitAssistActive = false;
-
  static int reverse_delay = 0;
  bool reverse_allowed = false;
  if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
@@ -149,7 +108,7 @@ void HudRendererSP::updateState(const UIState &s) {
  }

  if (sm.updated(gps_source)) {
-    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;
+    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
    altitude = gpsLocation.getAltitude();
    bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
    bearingDeg = gpsLocation.getBearingDeg();
@@ -323,7 +282,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
    const int sign_height = 204;
    QRect sign_rect(sign_x, sign_y, sign_width, sign_height);

-    if (speedLimitAssistState == 1) {
+    if (speedLimitAssistState == cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
      speedLimitAssistFrame++;
      showSpeedLimit = speed_limit_assist_pre_active_pulse;
      drawSpeedLimitPreActiveArrow(p, sign_rect);
@@ -336,7 +295,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
      drawSpeedLimitSigns(p, sign_rect);

      // do not show during SLA's preActive state
-      if (speedLimitAssistState != 1) {
+      if (speedLimitAssistState != cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
        drawUpcomingSpeedLimit(p);
      }
    }
@@ -676,7 +635,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {

 void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
-                           tileLoaded;
+                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
  if (!speed_limit_ahead) {
    return;
  }
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -85,7 +85,7 @@ private:
  bool speedLimitValid;
  bool speedLimitLastValid;
  float speedLimitFinalLast;
-  int speedLimitSource;  // 0=NONE, 1=MAP
+  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
  bool speedLimitAheadValid;
  float speedLimitAhead;
  float speedLimitAheadDistance;
@@ -94,7 +94,7 @@ private:
  SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF;
  bool roadName;
  QString roadNameStr;
-  int speedLimitAssistState;  // 0=NONE, 1=PRE_ACTIVE, etc.
+  cereal::LongitudinalPlanSP::SpeedLimit::AssistState speedLimitAssistState;
  bool speedLimitAssistActive;
  int speedLimitAssistFrame;
  QPixmap plus_arrow_up_img;
@@ -131,15 +131,4 @@ private:
  QString navigationNextModifier;
  QString navigationNextManeuverType;
  bool navigationHasNext;
-
-  QString wayName;
-  QString wayRef;
-  float mapdSpeedLimit;
-  float advisorySpeed;
-  float nextAdvisorySpeed;
-  float nextAdvisorySpeedDistance;
-  float suggestedSpeed;
-  float visionCurveSpeed;
-  float curveSpeed;
-  bool tileLoaded;
 };
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -8,6 +8,12 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"


+void ModelRendererSP::drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius) {
+  painter.setBrush(QColor(255, 255, 255, 200));
+  painter.setPen(Qt::NoPen);
+  painter.drawEllipse(pos, radius, radius);
+}
+
 void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
  ModelRenderer::update_model(model, lead);
  const auto &model_position = model.getPosition();
@@ -48,7 +54,7 @@ void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
  if (s->scene.rainbow_mode) {
    drawRainbowPath(painter, surface_rect);
  } else {
-    ModelRenderer::drawPath(painter, model, surface_rect.height(), surface_rect.width());
+    ModelRenderer::drawPath(painter, model, surface_rect.height());
  }

  if (longitudinal_control && sm.alive("radarState")) {
@@ -67,6 +73,26 @@ void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
    const bool right_blindspot = car_state.getRightBlindspot();
    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
  }
+
+  if (s->scene.visual_radar_tracks) {
+    if (sm.alive("liveTracks") && sm.rcv_frame("liveTracks") >= s->scene.started_frame) {
+      const auto &tracks = sm["liveTracks"].getLiveTracks().getPoints();
+      for (const auto &track : tracks) {
+        if (!std::isfinite(track.getDRel()) || !std::isfinite(track.getYRel())) continue;
+        float t_lag = s->scene.visual_radar_tracks_delay;
+        float d_pred = track.getDRel();
+        float y_pred = track.getYRel();
+        if (t_lag > 0.0f) {
+          d_pred += track.getVRel() * t_lag + 0.5f * track.getARel() * t_lag * t_lag;
+        }
+        QPointF screen_pt;
+        if (mapToScreen(d_pred, -y_pred, path_offset_z, &screen_pt)) {
+          drawRadarPoint(painter, screen_pt, track.getVRel(), 10.0f);
+        }
+      }
+    }
+  }
+
  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());

  painter.restore();
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h
@@ -28,4 +28,6 @@ private:

  // Lead status animation
  float lead_status_alpha = 0.0f;
+
+  void drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius = 10.0f);
 };
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -29,8 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP", "navigationd",
-    "mapdOut"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP", "navigationd", "liveTracks"
  });

  // update timer
@@ -45,6 +44,14 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
  });
  param_watcher->addParam("DevUIInfo");
  param_watcher->addParam("StandstillTimer");
+  param_watcher->addParam("VisualRadarTracks");
+  param_watcher->addParam("VisualRadarTracksDelay");
+  param_watcher->addParam("VisualWideCam");
+  param_watcher->addParam("VisualStyle");
+  param_watcher->addParam("VisualStyleZoom");
+  param_watcher->addParam("VisualStyleOverhead");
+  param_watcher->addParam("VisualStyleOverheadZoom");
+  param_watcher->addParam("VisualStyleOverheadThreshold");
 }

 // This method overrides completely the update method from the parent class intentionally.
@@ -77,6 +84,17 @@ void ui_update_params_sp(UIStateSP *s) {
  s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
  s->scene.blindspot_ui = params.getBool("BlindSpot");
  s->scene.rainbow_mode = params.getBool("RainbowMode");
+
+  s->scene.visual_radar_tracks = QString::fromStdString(params.get("VisualRadarTracks")).toInt();
+  s->scene.visual_radar_tracks_delay = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+
+  s->scene.visual_wide_cam = QString::fromStdString(params.get("VisualWideCam")).toInt();
+
+  s->scene.visual_style = QString::fromStdString(params.get("VisualStyle")).toInt();
+  s->scene.visual_style_zoom = QString::fromStdString(params.get("VisualStyleZoom")).toInt();
+  s->scene.visual_style_overhead = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
+  s->scene.visual_style_overhead_zoom = QString::fromStdString(params.get("VisualStyleOverheadZoom")).toInt();
+  s->scene.visual_style_overhead_threshold = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
 }

 void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -21,4 +21,12 @@ typedef struct UISceneSP : UIScene {
  int chevron_info;
  bool blindspot_ui;
  bool rainbow_mode;
+  int visual_radar_tracks = 0;
+  float visual_radar_tracks_delay = 0;
+  int visual_wide_cam = 0;
+  int visual_style = 0;
+  int visual_style_zoom = 0;
+  int visual_style_overhead = 0;
+  int visual_style_overhead_zoom = 0;
+  int visual_style_overhead_threshold = 20.0;
 } UISceneSP;
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -60,7 +60,6 @@ typedef struct UIScene {
  cereal::PandaState::PandaType pandaType;

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

  float light_sensor = -1;
  bool started, ignition, is_metric, recording_audio;
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -28,7 +28,6 @@ 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.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController


 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
@@ -210,7 +209,6 @@ def main(demo=False):
  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))

  while True:
    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -316,10 +314,7 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
-      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
-      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -26,7 +26,6 @@ from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController

 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"

@@ -240,9 +239,6 @@ def main(demo=False):
  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()
-  RELC = RoadEdgeLaneChangeController(params.get_bool("RoadEdgeLaneChangeEnabled"))
-
-

  while True:
    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -344,10 +340,7 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs)
-      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
-      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ class ModelCache:

 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v9.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"

  def __init__(self, params: Params):
    self.params = params
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path

 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 11
-REQUIRED_MIN_SELECTOR_VERSION = 11
+CURRENT_SELECTOR_VERSION = 10
+REQUIRED_MIN_SELECTOR_VERSION = 9

 USE_ONNX = os.getenv('USE_ONNX', PC)

--- a/sunnypilot/models/runners/model_runner.py
+++ b/sunnypilot/models/runners/model_runner.py
@@ -14,10 +14,13 @@ CUSTOM_MODEL_PATH = Paths.model_root()
 # Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
-  os.environ['DEV'] = 'AMD'
+  os.environ['AMD'] = '1'
  os.environ['AMD_IFACE'] = 'USB'
+elif TICI:
+  os.environ['QCOM'] = '1'
 else:
-  os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+  os.environ['LLVM'] = '1'
+  os.environ['JIT'] = '2'  # TODO: This may cause issues


 class ModelData:
--- a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
@@ -1,149 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from cereal import custom
-import numpy as np
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-
-# Acceleration Profiles
-MAX_ACCEL_PROFILES = {
-  AccelPersonality.eco:      [1.8, 1.80, 1.40, .700, .410, .30, .22, .009],
-  AccelPersonality.normal:   [1.9, 1.90, 1.50, .800, .530, .40, .26, .120],
-  AccelPersonality.sport:    [2.0, 2.00, 1.60, .900, .680, .50, .35, .200],
-}
-MAX_ACCEL_BREAKPOINTS =      [0.,  4.,   6.,   9.,   16.,  25., 30., 55.]
-
-# Braking Profiles
-MIN_ACCEL_PROFILES = {
-  AccelPersonality.eco:    [-1.20, -1.20, -1.20],
-  AccelPersonality.normal: [-1.30, -1.30, -1.30],
-  AccelPersonality.sport:  [-1.30, -1.40, -1.40],
-}
-MIN_ACCEL_BREAKPOINTS =    [5.,    10.,   36.] 
-
-
-DECEL_SMOOTH_ALPHA = 0.02  # Very aggressive smoothing for decel (lower = smoother)
-ACCEL_SMOOTH_ALPHA = 0.01  # Less aggressive for accel (higher = more responsive)
-
-# Asymmetric rate limiting
-MAX_DECEL_INCREASE_RATE = 0.1  # When braking harder (m/s² per second)
-MAX_DECEL_DECREASE_RATE = 0.30  # When releasing brake (m/s² per second)
-
-
-
-class AccelPersonalityController:
-
-  def __init__(self):
-    self.params = Params()
-    self.frame = 0
-    self.accel_personality = AccelPersonality.normal
-    self.last_max_accel = 2.0
-    self.last_min_accel = -0.01
-    self.first_run = True
-    self.param_keys = {
-      'personality': 'AccelPersonality',
-      'enabled': 'AccelPersonalityEnabled'
-    }
-    self._load_personality_from_params()
-
-  def _load_personality_from_params(self):
-    try:
-      saved = self.params.get(self.param_keys['personality'])
-      if saved is not None:
-        personality_value = int(saved)
-        if personality_value in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
-          self.accel_personality = personality_value
-        else:
-          self.accel_personality = AccelPersonality.normal
-    except (ValueError, TypeError):
-      self.accel_personality = AccelPersonality.normal
-
-  def _update_from_params(self):
-    if self.frame % int(1. / DT_MDL) != 0:
-      return
-    self._load_personality_from_params()
-
-  def get_accel_personality(self) -> int:
-    self._update_from_params()
-    return int(self.accel_personality)
-
-  def set_accel_personality(self, personality: int):
-    if personality not in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
-      return
-
-    self.accel_personality = personality
-    self.params.put(self.param_keys['personality'], str(personality))
-
-  def cycle_accel_personality(self) -> int:
-    personalities = [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]
-    current_idx = personalities.index(self.accel_personality)
-    next_personality = personalities[(current_idx + 1) % len(personalities)]
-    self.set_accel_personality(next_personality)
-    return int(next_personality)
-
-  def get_accel_limits(self, v_ego: float) -> tuple[float, float]:
-    v_ego = max(0.0, v_ego)
-    target_max_accel = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality])
-    target_min_accel = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.accel_personality])
-
-    if self.first_run:
-      self.last_max_accel = target_max_accel
-      self.last_min_accel = target_min_accel
-      self.first_run = False
-      return float(target_min_accel), float(target_max_accel)
-
-    # exponential smoothing to max accel
-    self.last_max_accel = (ACCEL_SMOOTH_ALPHA * target_max_accel + (1 - ACCEL_SMOOTH_ALPHA) * self.last_max_accel)
-
-    # VERY aggressive smoothing to min accel for ultra-smooth braking
-    smoothed_decel = (DECEL_SMOOTH_ALPHA * target_min_accel + (1 - DECEL_SMOOTH_ALPHA) * self.last_min_accel)
-
-    # asymmetric rate limiting
-    decel_change = smoothed_decel - self.last_min_accel
-    if decel_change < 0:
-      max_change_per_step = MAX_DECEL_INCREASE_RATE * DT_MDL
-    else:
-      max_change_per_step = MAX_DECEL_DECREASE_RATE * DT_MDL
-
-    decel_change = np.clip(decel_change, -max_change_per_step, max_change_per_step)
-    self.last_min_accel = self.last_min_accel + decel_change
-
-    if self.last_min_accel > self.last_max_accel:
-      self.last_min_accel = self.last_max_accel - 0.1
-
-    return float(self.last_min_accel), float(self.last_max_accel)
-
-  def get_min_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[0]
-
-  def get_max_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[1]
-
-  def is_enabled(self) -> bool:
-    return self.params.get_bool(self.param_keys['enabled'])
-
-  def set_enabled(self, enabled: bool):
-    self.params.put_bool(self.param_keys['enabled'], enabled)
-
-  def toggle_enabled(self) -> bool:
-    current = self.is_enabled()
-    self.set_enabled(not current)
-    return not current
-
-  def reset(self):
-    self.accel_personality = AccelPersonality.normal
-    self.frame = 0
-    self.last_max_accel = 2.0
-    self.last_min_accel = -0.01
-    self.first_run = True
-
-  def update(self):
-    self.frame += 1
-    self._update_from_params()
--- a/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py
+++ b/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py
@@ -1,128 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from cereal import log
-import numpy as np
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-
-LongPersonality = log.LongitudinalPersonality
-
-# Follow distance profiles mapped to LongPersonality
-FOLLOW_PROFILES = {
-  LongPersonality.relaxed:    [1.50, 1.50, 1.66, 1.66, 1.64, 1.89],
-  LongPersonality.standard:   [1.30, 1.30, 1.45, 1.45, 1.44, 1.50],
-  LongPersonality.aggressive: [0.97, 0.97, 1.25, 1.25, 1.24, 1.28],
-}
-
-FOLLOW_BREAKPOINTS =          [0.,   3.,   4,   11,   25.,  36]
-
-SMOOTHING_BASE = 0.99  # Base smoothing factor (higher = smoother)
-SMOOTHING_RANGE = 0.50  # Additional smoothing at high speeds
-SMOOTHING_SPEED_THRESHOLD = 36.0  # m/s (~80 mph) for max smoothing
-PERSONALITY_CHANGE_COOLDOWN_S = 0.1
-
-
-class FollowDistanceController:
-  def __init__(self):
-    self.params = Params()
-    self.frame = 0
-    self.personality = LongPersonality.standard
-    self.current_multiplier = None
-    self.first_run = True
-    self.personality_change_cooldown = 0
-    self.personality_cooldown_frames = int(PERSONALITY_CHANGE_COOLDOWN_S / DT_MDL)
-    self._load_personality()
-
-  def _load_personality(self):
-    try:
-      saved = self.params.get('LongitudinalPersonality')
-      if saved is not None:
-        val = int(saved)
-        if val in [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]:
-          self.personality = val
-    except (ValueError, TypeError):
-      pass
-
-  def _update_from_params(self):
-    if self.frame % int(1. / DT_MDL) != 0:
-      return
-
-    if self.personality_change_cooldown > 0:
-      self.personality_change_cooldown -= 1
-      return
-
-    try:
-      param = self.params.get('LongitudinalPersonality')
-      if param is not None:
-        val = int(param)
-        if val in [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]:
-          if val != self.personality:
-            self.personality = val
-            self.personality_change_cooldown = self.personality_cooldown_frames
-    except (ValueError, TypeError):
-      pass
-
-  def _get_smoothing_factor(self, v_ego: float) -> float:
-    speed_factor = np.clip(v_ego / SMOOTHING_SPEED_THRESHOLD, 0.3, 1.0)
-    return SMOOTHING_BASE + (SMOOTHING_RANGE * speed_factor)
-
-  def is_enabled(self) -> bool:
-    return self.params.get_bool('DynamicFollow')
-
-  def set_enabled(self, enabled: bool):
-    self.params.put_bool('DynamicFollow', enabled)
-
-  def toggle(self) -> bool:
-    enabled = self.is_enabled()
-    self.set_enabled(not enabled)
-    return not enabled
-
-  def get_personality(self) -> int:
-    self._update_from_params()
-    return int(self.personality)
-
-  def set_personality(self, personality: int):
-    if personality not in [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]:
-      return
-
-    self.personality = personality
-    self.params.put('LongitudinalPersonality', str(personality))
-    self.personality_change_cooldown = self.personality_cooldown_frames
-
-  def cycle_personality(self) -> int:
-    personalities = [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]
-    current_idx = personalities.index(self.personality)
-    next_personality = personalities[(current_idx + 1) % len(personalities)]
-    self.set_personality(next_personality)
-    return int(next_personality)
-
-  def get_follow_distance_multiplier(self, v_ego: float) -> float:
-    self._update_from_params()
-    v_ego = max(0.0, v_ego)
-    target = float(np.interp(v_ego, FOLLOW_BREAKPOINTS, FOLLOW_PROFILES[self.personality]))
-
-    if self.first_run:
-      self.current_multiplier = target
-      self.first_run = False
-      return self.current_multiplier
-
-    #exponential smoothing with speedadaptive factor
-    alpha = self._get_smoothing_factor(v_ego)
-    self.current_multiplier = alpha * self.current_multiplier + (1.0 - alpha) * target
-    return self.current_multiplier
-
-  def reset(self):
-    self.personality = LongPersonality.standard
-    self.frame = 0
-    self.current_multiplier = None
-    self.first_run = True
-    self.personality_change_cooldown = 0
-
-  def update(self):
-    self.frame += 1
-    self._update_from_params()
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -17,7 +17,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolve
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle

-from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelPersonalityController
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource

@@ -25,27 +24,27 @@ LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 class LongitudinalPlannerSP:
  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
    self.events_sp = EventsSP()
+    self.resolver = SpeedLimitResolver()
    self.dec = DynamicExperimentalController(CP, mpc)
-    self.accel_controller = AccelPersonalityController()
+    self.scc = SmartCruiseControl()
+    self.resolver = SpeedLimitResolver()
+    self.sla = SpeedLimitAssist(CP, CP_SP)
    self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
    self.source = LongitudinalPlanSource.cruise
    self.e2e_alerts_helper = E2EAlertsHelper()

-    # Disabled controllers
-    self.scc = None
-    self.sla = None
-    self.resolver = None
-
    self.output_v_target = 0.
    self.output_a_target = 0.

  @property
  def mlsim(self) -> bool:
+    # If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
    return bool(self.generation is None or self.generation >= 11)

  def get_mpc_mode(self) -> str | None:
    if not self.dec.active():
      return None
+
    return self.dec.mode()

  def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
@@ -53,20 +52,39 @@ class LongitudinalPlannerSP:
    v_cruise_cluster_kph = min(CS.vCruiseCluster, V_CRUISE_MAX)
    v_cruise_cluster = v_cruise_cluster_kph * CV.KPH_TO_MS

-    # Skip SCC and Speed Limit logic
-    self.source = LongitudinalPlanSource.cruise
-    self.output_v_target = v_cruise_cluster
-    self.output_a_target = a_ego
+    long_enabled = sm['carControl'].enabled
+    long_override = sm['carControl'].cruiseControl.override
+
+    # Smart Cruise Control
+    self.scc.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise)
+
+    # Speed Limit Resolver
+    self.resolver.update(v_ego, sm)
+
+    # Speed Limit Assist
+    has_speed_limit = self.resolver.speed_limit_valid or self.resolver.speed_limit_last_valid
+    self.sla.update(long_enabled, long_override, v_ego, a_ego, v_cruise_cluster, self.resolver.speed_limit,
+                    self.resolver.speed_limit_final_last, has_speed_limit, self.resolver.distance, self.events_sp)
+
+    targets = {
+      LongitudinalPlanSource.cruise: (v_cruise, a_ego),
+      LongitudinalPlanSource.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target),
+      LongitudinalPlanSource.sccMap: (self.scc.map.output_v_target, self.scc.map.output_a_target),
+      LongitudinalPlanSource.speedLimitAssist: (self.sla.output_v_target, self.sla.output_a_target),
+    }
+
+    self.source = min(targets, key=lambda k: targets[k][0])
+    self.output_v_target, self.output_a_target = targets[self.source]
    return self.output_v_target, self.output_a_target

  def update(self, sm: messaging.SubMaster) -> None:
    self.events_sp.clear()
    self.dec.update(sm)
    self.e2e_alerts_helper.update(sm, self.events_sp)
-    self.accel_controller.update()

  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
    plan_sp_send = messaging.new_message('longitudinalPlanSP')
+
    plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])

    longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
@@ -81,10 +99,43 @@ class LongitudinalPlannerSP:
    dec.enabled = self.dec.enabled()
    dec.active = self.dec.active()

-    # Skip SCC and Speed Limit fields (leave zeroed)
-    longitudinalPlanSP.smartCruiseControl.vision.enabled = False
-    longitudinalPlanSP.smartCruiseControl.map.enabled = False
-    longitudinalPlanSP.speedLimit.assist.enabled = False
+    # Smart Cruise Control
+    smartCruiseControl = longitudinalPlanSP.smartCruiseControl
+    # Vision Control
+    sccVision = smartCruiseControl.vision
+    sccVision.state = self.scc.vision.state
+    sccVision.vTarget = float(self.scc.vision.output_v_target)
+    sccVision.aTarget = float(self.scc.vision.output_a_target)
+    sccVision.currentLateralAccel = float(self.scc.vision.current_lat_acc)
+    sccVision.maxPredictedLateralAccel = float(self.scc.vision.max_pred_lat_acc)
+    sccVision.enabled = self.scc.vision.is_enabled
+    sccVision.active = self.scc.vision.is_active
+    # Map Control
+    sccMap = smartCruiseControl.map
+    sccMap.state = self.scc.map.state
+    sccMap.vTarget = float(self.scc.map.output_v_target)
+    sccMap.aTarget = float(self.scc.map.output_a_target)
+    sccMap.enabled = self.scc.map.is_enabled
+    sccMap.active = self.scc.map.is_active
+
+    # Speed Limit
+    speedLimit = longitudinalPlanSP.speedLimit
+    resolver = speedLimit.resolver
+    resolver.speedLimit = float(self.resolver.speed_limit)
+    resolver.speedLimitLast = float(self.resolver.speed_limit_last)
+    resolver.speedLimitFinal = float(self.resolver.speed_limit_final)
+    resolver.speedLimitFinalLast = float(self.resolver.speed_limit_final_last)
+    resolver.speedLimitValid = self.resolver.speed_limit_valid
+    resolver.speedLimitLastValid = self.resolver.speed_limit_last_valid
+    resolver.speedLimitOffset = float(self.resolver.speed_limit_offset)
+    resolver.distToSpeedLimit = float(self.resolver.distance)
+    resolver.source = self.resolver.source
+    assist = speedLimit.assist
+    assist.state = self.sla.state
+    assist.enabled = self.sla.is_enabled
+    assist.active = self.sla.is_active
+    assist.vTarget = float(self.sla.output_v_target)
+    assist.aTarget = float(self.sla.output_a_target)

    # E2E Alerts
    e2eAlerts = longitudinalPlanSP.e2eAlerts
--- a/sunnypilot/selfdrive/controls/lib/relc.py
+++ b/sunnypilot/selfdrive/controls/lib/relc.py
@@ -1,113 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import numpy as np
-from cereal import log
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-
-NEARSIDE_PROB = 0.2
-EDGE_PROB = 0.35
-EDGE_REACTION_TIME = 1.0
-
-class RoadEdgeLaneChangeController:
-  def __init__(self, desire_helper):
-    self.desire_helper = desire_helper
-    self.params = Params()
-    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
-    self.left_edge_detected = False
-    self.right_edge_detected = False
-    self.left_edge_timer = 0.0
-    self.right_edge_timer = 0.0
-    self._frame = 0
-
-  def set_enabled(self, enabled):
-    self.enabled = enabled
-    if not enabled:
-      self._reset_state()
-
-  def _read_params(self) -> None:
-    if self._frame % int(1. / DT_MDL) == 0:
-      self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
-
-  def _reset_state(self):
-    self.left_edge_detected = False
-    self.right_edge_detected = False
-    self.left_edge_timer = 0.0
-    self.right_edge_timer = 0.0
-
-  def _update_edge_detection(self, road_edge_stds, lane_line_probs):
-    if not self.enabled:
-      return
-
-    left_road_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
-    right_road_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
-
-    # Lane line probabilities: [left_outer, left_inner, right_inner, right_outer]
-    left_lane_nearside_prob = lane_line_probs[0] if len(lane_line_probs) > 0 else 0.0
-    right_lane_nearside_prob = lane_line_probs[3] if len(lane_line_probs) > 3 else 0.0
-
-    left_edge_conditions = (
-          left_road_edge_prob > EDGE_PROB and
-          left_lane_nearside_prob < NEARSIDE_PROB and
-          (len(lane_line_probs) <= 3 or right_lane_nearside_prob >= left_lane_nearside_prob)
-    )
-    right_edge_conditions = (
-          right_road_edge_prob > EDGE_PROB and
-          right_lane_nearside_prob < NEARSIDE_PROB and
-          (len(lane_line_probs) <= 0 or left_lane_nearside_prob >= right_lane_nearside_prob)
-    )
-
-    if left_edge_conditions:
-      self.left_edge_timer += DT_MDL
-      self.left_edge_detected = self.left_edge_timer > EDGE_REACTION_TIME
-    else:
-      self.left_edge_timer = 0.0
-      self.left_edge_detected = False
-
-    if right_edge_conditions:
-      self.right_edge_timer += DT_MDL
-      self.right_edge_detected = self.right_edge_timer > EDGE_REACTION_TIME
-    else:
-      self.right_edge_timer = 0.0
-      self.right_edge_detected = False
-
-  def update(self, road_edge_stds, lane_line_probs):
-    self._read_params()
-
-    if not self.enabled:
-      self._frame += 1
-      return
-
-    self._update_edge_detection(road_edge_stds, lane_line_probs)
-    self._frame += 1
-
-  def should_trigger_lane_change(self, carstate, lateral_active):
-    if not self.enabled:
-      return False, log.LaneChangeDirection.none
-    return False, log.LaneChangeDirection.none
-
-  def is_lane_change_blocked(self, direction):
-    if not self.enabled:
-      return False
-
-    if direction == log.LaneChangeDirection.left:
-      return self.left_edge_detected
-    elif direction == log.LaneChangeDirection.right:
-      return self.right_edge_detected
-
-    return False
-
-  def can_change_lane_left(self):
-    return not self.left_edge_detected if self.enabled else True
-
-  def can_change_lane_right(self):
-    return not self.right_edge_detected if self.enabled else True
-
-  @property
-  def edge_detected(self):
-    return self.left_edge_detected or self.right_edge_detected
--- a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -6,9 +6,6 @@ from openpilot.common.params import Params

 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
-from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
-

 TurnDirection = custom.ModelDataV2SP.TurnDirection

@@ -124,10 +121,7 @@ def set_lane_turn_params():
  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
-    dh = DesireHelper()
-    relc = RoadEdgeLaneChangeController(dh)
-    relc.set_enabled(True)
-    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-    for _ in range(10):
-        dh.update(carstate, lateral_active, lane_change_prob, left_edge_detected=relc.left_edge_detected, right_edge_detected=relc.right_edge_detected)
-    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+  dh = DesireHelper()
+  for _ in range(10):
+    dh.update(carstate, lateral_active, lane_change_prob)
+  assert dh.desire == expected_desire
--- a/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
@@ -1,190 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import pytest
-from cereal import log
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController, EDGE_REACTION_TIME
-
-@pytest.fixture
-def relc_controller(mocker):
-  mock_params = mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
-  mock_params.return_value.get_bool.return_value = True
-
-  DH = DesireHelper()
-  relc = RoadEdgeLaneChangeController(DH)
-  relc.set_enabled(True)
-  return relc
-
-
-def test_disable_resets_state(relc_controller):
-  relc = relc_controller
-  relc.left_edge_detected = True
-  relc.right_edge_detected = True
-  relc.left_edge_timer = 5.0
-  relc.right_edge_timer = 5.0
-
-  relc.set_enabled(False)
-
-  assert not relc.left_edge_detected
-  assert not relc.right_edge_detected
-  assert relc.left_edge_timer == 0.0
-  assert relc.right_edge_timer == 0.0
-
-
-def test_lane_change_blocked_left(relc_controller):
-  relc = relc_controller
-  relc.left_edge_detected = True
-  assert relc.is_lane_change_blocked(log.LaneChangeDirection.left)
-
-
-def test_lane_change_blocked_right(relc_controller):
-  relc = relc_controller
-  relc.right_edge_detected = True
-  assert relc.is_lane_change_blocked(log.LaneChangeDirection.right)
-
-
-def test_lane_change_not_blocked_opposite_side(relc_controller):
-  relc = relc_controller
-  relc.left_edge_detected = True
-  assert not relc.is_lane_change_blocked(log.LaneChangeDirection.right)
-
-  relc.left_edge_detected = False
-  relc.right_edge_detected = True
-  assert not relc.is_lane_change_blocked(log.LaneChangeDirection.left)
-
-
-def test_lane_change_not_blocked_when_disabled(relc_controller):
-  relc = relc_controller
-  relc.set_enabled(False)
-  relc.left_edge_detected = True
-  relc.right_edge_detected = True
-
-  assert not relc.is_lane_change_blocked(log.LaneChangeDirection.left)
-  assert not relc.is_lane_change_blocked(log.LaneChangeDirection.right)
-
-
-def test_can_change_lane_left(relc_controller):
-  relc = relc_controller
-  assert relc.can_change_lane_left()
-
-  relc.left_edge_detected = True
-  assert not relc.can_change_lane_left()
-
-
-def test_can_change_lane_right(relc_controller):
-  relc = relc_controller
-  assert relc.can_change_lane_right()
-
-  relc.right_edge_detected = True
-  assert not relc.can_change_lane_right()
-
-
-def test_can_change_lane_when_disabled(relc_controller):
-  relc = relc_controller
-  relc.set_enabled(False)
-  relc.left_edge_detected = True
-  relc.right_edge_detected = True
-
-  assert relc.can_change_lane_left()
-  assert relc.can_change_lane_right()
-
-
-def test_edge_detected_property(relc_controller):
-  relc = relc_controller
-  assert not relc.edge_detected
-
-  relc.left_edge_detected = True
-  assert relc.edge_detected
-
-  relc.left_edge_detected = False
-  relc.right_edge_detected = True
-  assert relc.edge_detected
-
-  relc.left_edge_detected = True
-  assert relc.edge_detected
-
-
-def test_should_trigger_lane_change(relc_controller):
-  relc = relc_controller
-  should_trigger, direction = relc.should_trigger_lane_change(None, True)
-  assert not should_trigger
-  assert direction == log.LaneChangeDirection.none
-
-
-def test_update_increments_frame(relc_controller):
-  relc = relc_controller
-  initial = relc._frame
-  relc.update([0.5, 0.5], [0.5, 0.5, 0.5, 0.5])
-  assert relc._frame == initial + 1
-
-
-def test_left_edge_detection(relc_controller):
-  relc = relc_controller
-  road_edge_stds = [0.0, 0.9]
-  lane_line_probs = [0.0, 0.8, 0.8, 0.8]
-
-  num_updates = int(EDGE_REACTION_TIME / DT_MDL) + 5
-  for _ in range(num_updates):
-    relc.update(road_edge_stds, lane_line_probs)
-
-  assert relc.left_edge_detected
-
-
-def test_right_edge_detection(relc_controller):
-  relc = relc_controller
-  road_edge_stds = [0.9, 0.0]
-  lane_line_probs = [0.8, 0.8, 0.8, 0.0]
-
-  num_updates = int(EDGE_REACTION_TIME / DT_MDL) + 5
-  for _ in range(num_updates):
-    relc.update(road_edge_stds, lane_line_probs)
-
-  assert relc.right_edge_detected
-
-
-def test_edge_detection_requires_time(relc_controller):
-  relc = relc_controller
-  road_edge_stds = [0.0, 0.9]
-  lane_line_probs = [0.0, 0.8, 0.8, 0.8]
-
-  num_updates = int(EDGE_REACTION_TIME / DT_MDL) - 1
-  for _ in range(num_updates):
-    relc.update(road_edge_stds, lane_line_probs)
-
-  assert not relc.left_edge_detected
-
-
-def test_edge_detection_clears(relc_controller):
-  relc = relc_controller
-  road_edge_stds = [0.0, 0.9]
-  lane_line_probs = [0.0, 0.8, 0.8, 0.8]
-
-  num_updates = int(EDGE_REACTION_TIME / DT_MDL) + 5
-  for _ in range(num_updates):
-    relc.update(road_edge_stds, lane_line_probs)
-  assert relc.left_edge_detected
-
-  road_edge_stds = [0.9, 0.9]
-  relc.update(road_edge_stds, lane_line_probs)
-
-  assert not relc.left_edge_detected
-  assert relc.left_edge_timer == 0.0
-
-
-def test_both_edges_detected(relc_controller):
-  relc = relc_controller
-  road_edge_stds = [0.0, 0.0]
-  lane_line_probs = [0.0, 0.8, 0.8, 0.0]
-
-  num_updates = int(EDGE_REACTION_TIME / DT_MDL) + 5
-  for _ in range(num_updates):
-    relc.update(road_edge_stds, lane_line_probs)
-
-  assert relc.left_edge_detected
-  assert relc.right_edge_detected
--- a/sunnypilot/selfdrive/controls/lib/vibe_personality/init.py
+++ b/sunnypilot/selfdrive/controls/lib/vibe_personality/init.py
--- a/sunnypilot/selfdrive/controls/lib/vibe_personality/tests/init.py
+++ b/sunnypilot/selfdrive/controls/lib/vibe_personality/tests/init.py
--- a/sunnypilot/selfdrive/controls/lib/vibe_personality/tests/test_vibe.py
+++ b/sunnypilot/selfdrive/controls/lib/vibe_personality/tests/test_vibe.py
@@ -1,314 +0,0 @@
-import pytest
-
-# Import the actual modules
-from cereal import log, custom
-from openpilot.common.realtime import DT_MDL
-
-# Import the enums we need for testing
-LongPersonality = log.LongitudinalPersonality
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-
-
-class MockParams:
-  """Simple mock for Params class"""
-  def __init__(self):
-    self.data = {}
-    self.bool_data = {
-      'VibePersonalityEnabled': True,
-      'VibeAccelPersonalityEnabled': True,
-      'VibeFollowPersonalityEnabled': True
-    }
-
-  def get(self, key, encoding=None):
-    return self.data.get(key)
-
-  def get_bool(self, key):
-    return self.bool_data.get(key, True)
-
-  def put(self, key, value):
-    self.data[key] = value
-
-  def put_bool(self, key, value):
-    self.bool_data[key] = value
-
-  def reset_mock(self):
-    self.call_count = 0
-
-  @property
-  def call_count(self):
-    return getattr(self, '_call_count', 0)
-
-  @call_count.setter
-  def call_count(self, value):
-    self._call_count = value
-
-
-@pytest.fixture
-def mock_params():
-  """Create mock params instance"""
-  return MockParams()
-
-
-@pytest.fixture
-def controller(mock_params, monkeypatch):
-  """Create controller instance with mocked Params"""
-  # Patch the Params import in the controller module
-  monkeypatch.setattr('openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality.Params',
-                      lambda: mock_params)
-
-  from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
-  return VibePersonalityController()
-
-
-class TestVibePersonalityController:
-
-  def test_initialization(self, controller):
-    """Test controller initializes with correct defaults"""
-    assert controller.frame == 0
-    assert controller.accel_personality == AccelPersonality.normal
-    assert controller.long_personality == LongPersonality.standard
-    assert 'accel_personality' in controller.param_keys
-    assert 'long_personality' in controller.param_keys
-
-  def test_frame_increment(self, controller):
-    """Test frame counter increments correctly"""
-    initial_frame = controller.frame
-    controller.update()
-    assert controller.frame == initial_frame + 1
-
-    controller.update()
-    assert controller.frame == initial_frame + 2
-
-  def test_parameter_reading_throttled(self, controller, mock_params):
-    """Test parameters are only read every DT_MDL frames"""
-    # Track calls manually
-    original_get = mock_params.get
-    call_count = 0
-
-    def counting_get(*args, **kwargs):
-      nonlocal call_count
-      call_count += 1
-      return original_get(*args, **kwargs)
-
-    mock_params.get = counting_get
-
-    # First call should read params (frame 0)
-    controller._update_from_params()
-
-    # Reset counter
-    call_count = 0
-
-    # Advance frame but not to threshold
-    controller.frame = 5  # Less than int(1/DT_MDL)
-    controller._update_from_params()
-    assert call_count == 0  # Should not read params
-
-    # Advance to threshold
-    controller.frame = int(1. / DT_MDL)  # Equal to threshold
-    controller._update_from_params()
-    assert call_count >= 2  # Should read both personality params
-
-  def test_accel_personality_management(self, controller, mock_params):
-    """Test acceleration personality setting and cycling"""
-    # Test setting valid personality
-    assert controller.set_accel_personality(AccelPersonality.eco)
-    assert controller.accel_personality == AccelPersonality.eco
-
-    assert controller.set_accel_personality(AccelPersonality.sport)
-    assert controller.accel_personality == AccelPersonality.sport
-
-    # Test setting invalid personality
-    assert not controller.set_accel_personality(999)
-    assert controller.accel_personality == AccelPersonality.sport  # Should remain unchanged
-
-    # Test cycling
-    controller.accel_personality = AccelPersonality.eco
-    next_personality = controller.cycle_accel_personality()
-    assert next_personality == AccelPersonality.normal  # should cycle to normal
-    assert controller.accel_personality == AccelPersonality.normal
-
-    next_personality = controller.cycle_accel_personality()
-    assert next_personality == AccelPersonality.sport  # should cycle to sport
-
-    next_personality = controller.cycle_accel_personality()
-    assert next_personality == AccelPersonality.eco  # should cycle back to eco
-
-  def test_long_personality_management(self, controller, mock_params):
-    """Test longitudinal personality setting and cycling"""
-    # Test setting valid personality
-    assert controller.set_long_personality(LongPersonality.relaxed)
-    assert controller.long_personality == LongPersonality.relaxed
-
-    assert controller.set_long_personality(LongPersonality.aggressive)
-    assert controller.long_personality == LongPersonality.aggressive
-
-    # Test setting invalid personality
-    assert not controller.set_long_personality(999)
-    assert controller.long_personality == LongPersonality.aggressive  # Should remain unchanged
-
-    # Test cycling
-    controller.long_personality = LongPersonality.standard
-    next_personality = controller.cycle_long_personality()
-    assert next_personality == LongPersonality.aggressive  # should cycle to aggressive
-    assert controller.long_personality == LongPersonality.aggressive
-
-    next_personality = controller.cycle_long_personality()
-    assert next_personality == LongPersonality.relaxed  # should cycle to relaxed
-
-    next_personality = controller.cycle_long_personality()
-    assert next_personality == LongPersonality.standard  # should cycle back to standard
-
-  def test_toggle_functions(self, controller, mock_params):
-    """Test toggle functionality"""
-    # Set initial state to False
-    mock_params.bool_data['VibePersonalityEnabled'] = False
-
-    result = controller.toggle_personality()
-    assert result  # Should toggle to True
-    assert mock_params.bool_data['VibePersonalityEnabled']
-
-    # Set initial state to True
-    mock_params.bool_data['VibeAccelPersonalityEnabled'] = True
-
-    result = controller.toggle_accel_personality()
-    assert not result  # Should toggle to False
-    assert not mock_params.bool_data['VibeAccelPersonalityEnabled']
-
-  def test_enable_checks(self, controller, mock_params):
-    """Test various enable state checks"""
-    # All enabled
-    mock_params.bool_data = {
-      'VibePersonalityEnabled': True,
-      'VibeAccelPersonalityEnabled': True,
-      'VibeFollowPersonalityEnabled': True
-    }
-
-    assert controller.is_enabled()
-    assert controller.is_accel_enabled()
-    assert controller.is_follow_enabled()
-
-    # Main toggle disabled
-    mock_params.bool_data['VibePersonalityEnabled'] = False
-
-    assert not controller.is_enabled()
-    assert not controller.is_accel_enabled()
-    assert not controller.is_follow_enabled()
-
-  def test_accel_limits_calculation(self, controller, mock_params):
-    """Test acceleration limits calculation"""
-    # Enable all features through mock_params bool_data
-    mock_params.bool_data = {
-      'VibePersonalityEnabled': True,
-      'VibeAccelPersonalityEnabled': True,
-      'VibeFollowPersonalityEnabled': True
-    }
-
-    # Test with different speeds and personalities
-    controller.accel_personality = 1  # normal
-    controller.long_personality = 1  # standard
-
-    limits = controller.get_accel_limits(10.0)  # 10 m/s
-    assert limits is not None
-    min_a, max_a = limits
-    assert isinstance(min_a, float)
-    assert isinstance(max_a, float)
-    assert min_a < 0  # Should be negative (braking)
-    assert max_a > 0  # Should be positive (acceleration)
-
-    # Test with disabled controller
-    mock_params.bool_data['VibePersonalityEnabled'] = False
-    limits = controller.get_accel_limits(10.0)
-    assert limits is None
-
-  def test_follow_distance_multiplier(self, controller, mock_params):
-    """Test following distance multiplier calculation"""
-    # Enable controller
-    mock_params.bool_data['VibePersonalityEnabled'] = True
-    mock_params.bool_data['VibeFollowPersonalityEnabled'] = True
-
-    # Test with different speeds and personalities
-    controller.long_personality = LongPersonality.relaxed
-
-    multiplier = controller.get_follow_distance_multiplier(15.0)  # 15 m/s
-    assert multiplier is not None
-    assert isinstance(multiplier, float)
-    assert multiplier > 0
-
-    # Test with different personality - aggressive should have shorter distance
-    controller.long_personality = LongPersonality.aggressive
-    aggressive_multiplier = controller.get_follow_distance_multiplier(15.0)
-    assert aggressive_multiplier is not None
-    assert aggressive_multiplier < multiplier  # Aggressive should have shorter distance
-
-    # Test with disabled controller
-    mock_params.bool_data['VibeFollowPersonalityEnabled'] = False
-    multiplier = controller.get_follow_distance_multiplier(15.0)
-    assert multiplier is None
-
-  def test_personality_differences(self, controller, mock_params):
-    """Test that different personalities actually produce different values"""
-    # Enable controller
-    mock_params.bool_data['VibePersonalityEnabled'] = True
-    mock_params.bool_data['VibeAccelPersonalityEnabled'] = True
-    mock_params.bool_data['VibeFollowPersonalityEnabled'] = True
-
-    # Test acceleration differences - sport should have higher max acceleration than eco
-    controller.accel_personality = AccelPersonality.eco
-    eco_limits = controller.get_accel_limits(20.0)
-
-    controller.accel_personality = AccelPersonality.sport
-    sport_limits = controller.get_accel_limits(20.0)
-
-    assert sport_limits[1] > eco_limits[1]  # Sport should have higher max acceleration
-
-    # Test following distance differences - relaxed should have longer distance than aggressive
-    controller.long_personality = LongPersonality.relaxed
-    relaxed_dist = controller.get_follow_distance_multiplier(20.0)
-
-    controller.long_personality = LongPersonality.aggressive
-    aggressive_dist = controller.get_follow_distance_multiplier(20.0)
-
-    assert relaxed_dist > aggressive_dist  # Relaxed should have longer following distance
-
-  def test_reset(self, controller):
-    """Test reset functionality"""
-    # Change some values
-    controller.accel_personality = AccelPersonality.sport
-    controller.long_personality = LongPersonality.relaxed
-    controller.frame = 100
-
-    # Reset
-    controller.reset()
-
-    # Check defaults are restored
-    assert controller.accel_personality == AccelPersonality.normal
-    assert controller.long_personality == LongPersonality.standard
-    assert controller.frame == 0
-
-  def test_edge_cases(self, controller, mock_params):
-    """Test edge cases and error handling"""
-    # Enable all features
-    mock_params.bool_data = {
-      'VibePersonalityEnabled': True,
-      'VibeAccelPersonalityEnabled': True,
-      'VibeFollowPersonalityEnabled': True
-    }
-
-    # Test with zero speed
-    limits = controller.get_accel_limits(0.0)
-    assert limits is not None
-
-    multiplier = controller.get_follow_distance_multiplier(0.0)
-    assert multiplier is not None
-
-    # Test with very high speed
-    limits = controller.get_accel_limits(100.0)
-    assert limits is not None
-
-    multiplier = controller.get_follow_distance_multiplier(100.0)
-    assert multiplier is not None
-
-    # Test interpolation works correctly
-    low_speed_limits = controller.get_accel_limits(5.0)
-    high_speed_limits = controller.get_accel_limits(50.0)
-    assert low_speed_limits[1] > high_speed_limits[1]  # Max accel should decrease with speed
--- a/sunnypilot/selfdrive/controls/lib/vibe_personality/vibe_personality.py
+++ b/sunnypilot/selfdrive/controls/lib/vibe_personality/vibe_personality.py
@@ -1,144 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from cereal import log, custom
-import numpy as np
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-
-LongPersonality = log.LongitudinalPersonality
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-
-# Acceleration Profiles mapped to AccelPersonality (eco/normal/sport)
-MAX_ACCEL_PROFILES = {
-    AccelPersonality.eco:       [2.0,  1.99,  1.88, 1.10, .500, .292, .15, .10],   # eco
-    AccelPersonality.normal:    [2.0,  2.00,  1.94, 1.22, .635, .33, .22, .16],   # normal
-    AccelPersonality.sport:     [2.0,  2.00,  2.00, 1.85, .800, .54, .32, .22],    # sport
-}
-MAX_ACCEL_BREAKPOINTS =         [0.,   4.,   6.,   9.,   16.,  25.,  30., 55.]
-
-# Braking profiles mapped to LongPersonality (relaxed/standard/aggressive)
-MIN_ACCEL_PROFILES = {
-    LongPersonality.relaxed:    [-.0006, -.0006, -.010,  -.30,  -1.20],  # gentler braking
-    LongPersonality.standard:   [-.0007, -.0007, -.012,  -.35,  -1.20],  # normal braking
-    LongPersonality.aggressive: [-.0020, -.0008, -.014,  -.40,  -1.20],  # more aggressive braking
-}
-MIN_ACCEL_BREAKPOINTS =         [0.,   3.0,    11.,    14,  50.]
-
-# Follow distance profiles mapped to LongPersonality (relaxed/standard/aggressive)
-FOLLOW_PROFILES = {
-    LongPersonality.relaxed:    [1.55, 1.65, 1.65, 1.80],  # more spread out
-    LongPersonality.standard:   [1.45, 1.45, 1.45, 1.55],  # balanced
-    LongPersonality.aggressive: [1.20, 1.25, 1.28, 1.35],  # tighter
-}
-FOLLOW_BREAKPOINTS =            [0.,   6.,   18.,  36.]
-
-
-class VibePersonalityController:
-    """Controller for acceleration and distance personalities"""
-
-    def __init__(self):
-        self.params = Params()
-        self.frame = 0
-        self.accel_personality = AccelPersonality.normal
-        self.long_personality = LongPersonality.standard
-        self.param_keys = {
-            'accel_personality': 'AccelPersonality',
-            'long_personality': 'LongitudinalPersonality',
-            'enabled': 'VibePersonalityEnabled',
-            'accel_enabled': 'VibeAccelPersonalityEnabled',
-            'follow_enabled': 'VibeFollowPersonalityEnabled'
-        }
-
-    def _update_from_params(self):
-        """Update personalities from params"""
-        if self.frame % int(1. / DT_MDL) != 0:
-            return
-
-        accel_personality_int = int(self.params.get(self.param_keys['accel_personality']))
-        self.accel_personality = accel_personality_int
-
-        long_personality_int = int(self.params.get(self.param_keys['long_personality']))
-        self.long_personality = long_personality_int
-
-    def _get_toggle_state(self, key: str) -> bool:
-        return self.params.get_bool(self.param_keys[key])
-
-    def _set_toggle_state(self, key: str, value: bool):
-        self.params.put_bool(self.param_keys[key], value)
-
-    def set_accel_personality(self, personality: int) -> bool:
-        self.accel_personality = personality
-        self.params.put(self.param_keys['accel_personality'], str(personality))
-        return True
-
-    def cycle_accel_personality(self) -> int:
-        personalities = [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]
-        current_idx = personalities.index(self.accel_personality)
-        next_personality = personalities[(current_idx + 1) % len(personalities)]
-        self.set_accel_personality(next_personality)
-        return int(next_personality)
-
-    def get_accel_personality(self) -> int:
-        self._update_from_params()
-        return int(self.accel_personality)
-
-    def set_long_personality(self, personality: int) -> bool:
-        self.long_personality = personality
-        self.params.put(self.param_keys['long_personality'], str(personality))
-        return True
-
-    def cycle_long_personality(self) -> int:
-        personalities = [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]
-        current_idx = personalities.index(self.long_personality)
-        next_personality = personalities[(current_idx + 1) % len(personalities)]
-        self.set_long_personality(next_personality)
-        return int(next_personality)
-
-    def get_long_personality(self) -> int:
-        self._update_from_params()
-        return int(self.long_personality)
-
-    def toggle_personality(self): return self._toggle_flag('enabled')
-    def toggle_accel_personality(self): return self._toggle_flag('accel_enabled')
-    def toggle_follow_distance_personality(self): return self._toggle_flag('follow_enabled')
-
-    def _toggle_flag(self, key):
-        current = self._get_toggle_state(key)
-        self._set_toggle_state(key, not current)
-        return not current
-
-    def set_personality_enabled(self, enabled: bool): self._set_toggle_state('enabled', enabled)
-    def is_accel_enabled(self) -> bool: return self._get_toggle_state('enabled') and self._get_toggle_state('accel_enabled')
-    def is_follow_enabled(self) -> bool: return self._get_toggle_state('enabled') and self._get_toggle_state('follow_enabled')
-    def is_enabled(self) -> bool: return self._get_toggle_state('enabled') and (self._get_toggle_state('accel_enabled') or self._get_toggle_state('follow_enabled'))
-
-    def get_accel_limits(self, v_ego: float) -> tuple[float, float]:
-        """Get acceleration limits based on current personalities."""
-        self._update_from_params()
-        max_a = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality])
-        min_a = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.long_personality])
-        return float(min_a), float(max_a)
-
-    def get_follow_distance_multiplier(self, v_ego: float) -> float:
-        """Get dynamic following distance based on speed and personality"""
-        self._update_from_params()
-        return float(np.interp(v_ego, FOLLOW_BREAKPOINTS, FOLLOW_PROFILES[self.long_personality]))
-
-    def get_min_accel(self, v_ego: float) -> float:
-        return self.get_accel_limits(v_ego)[0]
-
-    def get_max_accel(self, v_ego: float) -> float:
-        return self.get_accel_limits(v_ego)[1]
-
-    def reset(self):
-        self.accel_personality = AccelPersonality.normal
-        self.long_personality = LongPersonality.standard
-        self.frame = 0
-
-    def update(self):
-        self.frame += 1
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -226,12 +226,4 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
  },
-
-  EventNameSP.laneChangeRoadEdge: {
-    ET.WARNING: Alert(
-      "Lane Change Unavailable: Road Edge",
-      "",
-      AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
-  },
 }
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -178,15 +178,14 @@ procs += [
  PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),

  # mapd
-  #NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
-  #PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
-  NativeProcess("mapd", "selfdrive", ["./mapd"], always_run),
+  NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
+  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),

  # navigationd
  PythonProcess("navigationd", "sunnypilot.navd.navigationd", only_onroad),

  # locationd
-  #NativeProcess("locationd_llk", "sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
+  NativeProcess("locationd_llk", "sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
 ]

 if os.path.exists("./github_runner.sh"):
--- a/2
+++ b/2