changelog: add new contributor entry

* Update developer_panel.cc

Changed mentions of "openpilot Longitudinal Control" to "sunnypilot Longitudinal Control" to align with other UI elements pointing users towards enabling "sunnypilot Longitudinal Control"

* Update warning message for longitudinal control

* more

* a bit more

* slightly more

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

.codespellignore

@@ -3,3 +3,4 @@ REGIST
 PullRequest
 cancelled
 FOF
+NoO

.github/workflows/selfdrive_tests.yaml

@@ -115,7 +115,9 @@ jobs:
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - name: Homebrew cache
       uses: ./.github/workflows/auto-cache
+      if: false # disabling the cache for now because it is breaking macos builds...
       with:
+        save: false # No need save here if we manually save it later conditionally
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
@@ -136,6 +138,7 @@ jobs:
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache
       with:
+        save: false # No need save here if we manually save it later conditionally
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |

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

@@ -79,7 +79,7 @@ jobs:
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
-            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
             echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
             echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
           fi

.github/workflows/sunnypilot-master-dev-prep.yaml

@@ -118,8 +118,8 @@ jobs:
         run: |
           # Use GitHub API to get PRs with specific label, ordered by creation date
           PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
+            query($search_query:String!) {
+              search(query: $search_query, type:ISSUE, first:100) {
                 nodes {
                   ... on PullRequest {
                     number
@@ -149,7 +149,7 @@ jobs:
                   }
                 }
               }
-            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
+            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${PR_LABEL},${PR_LABEL}-c3 draft:false sort:created-asc")
 
           PR_LIST=${PR_LIST//\'/}
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT

cereal/custom.capnp

@@ -69,6 +69,48 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
   intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    # unused, these are reserved for upstream events so we don't collide
+    reserved9 @9;
+    reserved10 @10;
+    reserved11 @11;
+    reserved12 @12;
+    reserved13 @13;
+    reserved14 @14;
+    reserved15 @15;
+    reserved16 @16;
+    reserved17 @17;
+    reserved18 @18;
+    reserved19 @19;
+    reserved20 @20;
+    reserved21 @21;
+    reserved22 @22;
+    reserved23 @23;
+    reserved24 @24;
+    reserved25 @25;
+    reserved26 @26;
+    reserved27 @27;
+    reserved28 @28;
+    reserved29 @29;
+    reserved30 @30;
+
+    promptSingleLow @31;
+    promptSingleHigh @32;
+  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -145,6 +187,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
   longitudinalPlanSource @1 :LongitudinalPlanSource;
   smartCruiseControl @2 :SmartCruiseControl;
+  speedLimit @3 :SpeedLimit;
+  vTarget @4 :Float32;
+  aTarget @5 :Float32;
+  events @6 :List(OnroadEventSP.Event);
+  e2eAlerts @7 :E2eAlerts;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -159,6 +206,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
 
   struct SmartCruiseControl {
     vision @0 :Vision;
+    map @1 :Map;
 
     struct Vision {
       state @0 :VisionState;
@@ -170,6 +218,14 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       active @6 :Bool;
     }
 
+    struct Map {
+      state @0 :MapState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      enabled @3 :Bool;
+      active @4 :Bool;
+    }
+
     enum VisionState {
       disabled @0; # System disabled or inactive.
       enabled @1; # No predicted substantial turn on vision range.
@@ -178,11 +234,65 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       leaving @4; # Road ahead straightens. Start to allow positive acceleration.
       overriding @5; # System overriding with manual control.
     }
+
+    enum MapState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on map range.
+      turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      overriding @3; # System overriding with manual control.
+    }
+  }
+
+  struct SpeedLimit {
+    resolver @0 :Resolver;
+    assist @1 :Assist;
+
+    struct Resolver {
+      speedLimit @0 :Float32;
+      distToSpeedLimit @1 :Float32;
+      source @2 :Source;
+      speedLimitOffset @3 :Float32;
+      speedLimitLast @4 :Float32;
+      speedLimitFinal @5 :Float32;
+      speedLimitFinalLast @6 :Float32;
+      speedLimitValid @7 :Bool;
+      speedLimitLastValid @8 :Bool;
+    }
+
+    struct Assist {
+      state @0 :AssistState;
+      enabled @1 :Bool;
+      active @2 :Bool;
+      vTarget @3 :Float32;
+      aTarget @4 :Float32;
+    }
+
+    enum Source {
+      none @0;
+      car @1;
+      map @2;
+    }
+
+    enum AssistState {
+      disabled @0;
+      inactive @1; # No speed limit set or not enabled by parameter.
+      preActive @2;
+      pending @3; # Awaiting new speed limit.
+      adapting @4; # Reducing speed to match new speed limit.
+      active @5; # Cruising at speed limit.
+    }
   }
 
   enum LongitudinalPlanSource {
     cruise @0;
     sccVision @1;
+    sccMap @2;
+    speedLimitAssist @3;
+  }
+
+  struct E2eAlerts {
+    greenLightAlert @0 :Bool;
+    leadDepartAlert @1 :Bool;
   }
 }
 
@@ -225,14 +335,20 @@ struct OnroadEventSP @0xda96579883444c35 {
     pedalPressedAlertOnly @16;
     laneTurnLeft @17;
     laneTurnRight @18;
+    speedLimitPreActive @19;
+    speedLimitActive @20;
+    speedLimitChanged @21;
+    speedLimitPending @22;
+    e2eChime @23;
   }
 }
 
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
-  pcmCruiseSpeed @3 :Bool = true;
+  pcmCruiseSpeed @3 :Bool;
   intelligentCruiseButtonManagementAvailable @4 :Bool;
+  enableGasInterceptor @5 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
@@ -261,7 +377,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
 
     valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
   }
-  
+
   enum ParamType {
     string @0;
     bool @1;
@@ -316,6 +432,7 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }
 
 struct CarStateSP @0xb86e6369214c01c8 {
+  speedLimit @0 :Float32;
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -329,13 +446,13 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
-}
 
   enum TurnDirection {
     none @0;
     turnLeft @1;
     turnRight @2;
   }
+}
 
 struct CustomReserved10 @0xcb9fd56c7057593a {
 }

cereal/log.capnp

@@ -2684,7 +2684,7 @@ struct Event {
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
-    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
+    liveLocationKalman @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
   }

cereal/services.py

@@ -89,6 +89,7 @@ _services: dict[str, tuple] = {
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
   "modelDataV2SP": (True, 20.),
+  "liveLocationKalman": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),

common/params_keys.h

@@ -148,20 +148,30 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
+    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
     {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
     {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -187,7 +197,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SunnylinkCache_Users", {PERSISTENT, STRING}},
     {"SunnylinkDongleId", {PERSISTENT, STRING}},
     {"SunnylinkdPid", {PERSISTENT, INT}},
-    {"SunnylinkEnabled", {PERSISTENT, BOOL}},
+    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
+    {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
 
     // Backup Manager params
     {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
@@ -195,6 +206,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // sunnypilot car specific params
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -225,4 +238,25 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"RoadNameToggle", {PERSISTENT, STRING}},
+
+    // Speed Limit
+    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
+    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
+    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
+
+    // Smart Cruise Control
+    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // Torque lateral control custom params
+    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
+    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
+    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
+    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
 };

common/swaglog.cc

@@ -15,6 +15,8 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
+#include "sunnypilot/common/version.h"
+
 class SwaglogState {
 public:
   SwaglogState() {
@@ -56,7 +58,7 @@ public:
     if (char* daemon_name = getenv("MANAGER_DAEMON")) {
       ctx_j["daemon"] = daemon_name;
     }
-    ctx_j["version"] = COMMA_VERSION;
+    ctx_j["version"] = SUNNYPILOT_VERSION;
     ctx_j["dirty"] = !getenv("CLEAN");
     ctx_j["device"] = Hardware::get_name();
   }

common/tests/test_markdown.py

@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
 
 class TestMarkdown:
   def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
+    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
       release_notes = f.read().split("\n\n")
       assert len(release_notes) > 10
 

common/tests/test_swaglog.cc

@@ -9,6 +9,8 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
+#include "sunnypilot/common/version.h"
+
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -53,7 +55,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
     REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
     REQUIRE(ctx["dirty"].bool_value() == true);
 
-    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
+    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
 
     std::string device = Hardware::get_name();
     REQUIRE(ctx["device"].string_value() == device);

common/util.h

@@ -36,6 +36,7 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
+const double METER_TO_KM = 1. / 1000.0;
 
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 334 Supported Cars
+# 339 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -21,7 +21,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
+|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -83,7 +86,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
@@ -99,7 +102,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
 |Honda|Pilot 2023-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
@@ -163,6 +168,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
+|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
@@ -233,20 +239,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -259,7 +265,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -305,7 +311,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||

release/build_release.sh

@@ -39,7 +39,7 @@ cd $BUILD_DIR
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
-VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
+VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"

release/build_stripped.sh

@@ -49,7 +49,7 @@ rm -f panda/board/obj/panda.bin.signed
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
 
 echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date

release/ci/publish.sh

@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
 fi
 
 # "Tagging"
-echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
+echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
 
 ## set git identity
 #source $DIR/identity.sh
@@ -55,7 +55,7 @@ git add -f .
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
 
 # Commit with detailed message
 git commit -a -m "sunnypilot v$VERSION

selfdrive/assets/sounds/prompt_single_high.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
+size 34638

selfdrive/assets/sounds/prompt_single_low.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
+size 44416

selfdrive/car/card.py

@@ -71,7 +71,7 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
 
     self.can_rcv_cum_timeout_counter = 0
@@ -88,6 +88,7 @@ class Car:
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
     is_release = self.params.get_bool("IsReleaseBranch")
+    is_release_sp = self.params.get_bool("IsReleaseSpBranch")
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -110,7 +111,7 @@ class Car:
       init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
 
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
-                        fixed_fingerprint, init_params_list_sp)
+                        fixed_fingerprint, init_params_list_sp, is_release_sp)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
@@ -124,7 +125,7 @@ class Car:
 
     self.CP.alternativeExperience = 0
     # mads
-    set_alternative_experience(self.CP, self.params)
+    set_alternative_experience(self.CP, self.CP_SP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)
 
     # Dynamic Experimental Control
@@ -216,6 +217,7 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
+    self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on

selfdrive/car/cruise.py

@@ -53,6 +53,7 @@ class VCruiseHelper(VCruiseHelperSP):
       if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
+        self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -104,6 +105,12 @@ class VCruiseHelper(VCruiseHelperSP):
     if not self.button_change_states[button_type]["enabled"]:
       return
 
+    # Speed Limit Assist for Non PCM long cars.
+    # True: Disallow set speed changes when user confirmed the target set speed during preActive state
+    # False: Allow set speed changes as SLA is not requesting user confirmation
+    if self.update_speed_limit_assist_pre_active_confirmed(button_type):
+      return
+
     long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
     if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta

selfdrive/car/helpers.py

@@ -57,7 +57,7 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
-  struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
+  # struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
   struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
   struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
   struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(

selfdrive/car/tests/test_car_interfaces.py

@@ -60,7 +60,7 @@ class TestCarInterfaces:
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    LongControl(car_params)
+    LongControl(car_params, car_params_sp)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
       LatControlAngle(car_params, car_params_sp, car_interface)
     elif car_params.lateralTuning.which() == 'pid':

selfdrive/car/tests/test_cruise_speed.py

@@ -44,12 +44,12 @@ class TestCruiseSpeed:
     assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
 
 
-# TODO: test pcmCruise
-@parameterized_class(('pcm_cruise',), [(False,)])
+# TODO: test pcmCruise and pcmCruiseSpeed
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestVCruiseHelper:
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.CP_SP = custom.CarParamsSP()
+    self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
     self.reset_cruise_speed_state()
 

selfdrive/car/tests/test_models.py

@@ -151,7 +151,7 @@ class TestCarModelBase(unittest.TestCase):
 
     cls.CarInterface = interfaces[cls.platform]
     cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, False, docs=False)
     assert cls.CP
     assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform

selfdrive/controls/controlsd.py

@@ -58,7 +58,7 @@ class Controls(ControlsExt, ModelStateBase):
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
 
-    self.LoC = LongControl(self.CP)
+    self.LoC = LongControl(self.CP, self.CP_SP)
     self.VM = VehicleModel(self.CP)
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
@@ -99,7 +99,6 @@ class Controls(ControlsExt, ModelStateBase):
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
-      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
       self.LaC.extension.update_lateral_lag(self.lat_delay)
 
     long_plan = self.sm['longitudinalPlan']
@@ -234,6 +233,9 @@ class Controls(ControlsExt, ModelStateBase):
     while not evt.is_set():
       self.get_params_sp()
 
+      if self.CP.lateralTuning.which() == 'torque':
+        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
+
       time.sleep(0.1)
 
   def run(self):

selfdrive/controls/lib/desire_helper.py

@@ -6,6 +6,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTur
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
+TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
@@ -32,9 +33,9 @@ DESIRES = {
 }
 
 TURN_DESIRES = {
-  custom.TurnDirection.none: log.Desire.none,
-  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
-  custom.TurnDirection.turnRight: log.Desire.turnRight,
+  TurnDirection.none: log.Desire.none,
+  TurnDirection.turnLeft: log.Desire.turnLeft,
+  TurnDirection.turnRight: log.Desire.turnRight,
 }
 
 
@@ -49,7 +50,7 @@ class DesireHelper:
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
     self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = custom.TurnDirection.none
+    self.lane_turn_direction = TurnDirection.none
 
   @staticmethod
   def get_lane_change_direction(CS):
@@ -126,7 +127,7 @@ class DesireHelper:
 
     self.prev_one_blinker = one_blinker
 
-    if self.lane_turn_direction != custom.TurnDirection.none:
+    if self.lane_turn_direction != TurnDirection.none:
       self.desire = TURN_DESIRES[self.lane_turn_direction]
     else:
       self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]

selfdrive/controls/lib/latcontrol_torque.py

@@ -48,6 +48,10 @@ class LatControlTorque(LatControl):
                         self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+    # Override torque params from extension
+    if self.extension.update_override_torque_params(self.torque_params):
+      self.update_limits()
+
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0

selfdrive/controls/lib/longcontrol.py

@@ -10,8 +10,11 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, active, long_control_state, v_ego,
+def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
                              should_stop, brake_pressed, cruise_standstill):
+  # Gas Interceptor
+  cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
+
   stopping_condition = should_stop
   starting_condition = (not should_stop and
                         not cruise_standstill and
@@ -45,8 +48,9 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
   return long_control_state
 
 class LongControl:
-  def __init__(self, CP):
+  def __init__(self, CP, CP_SP):
     self.CP = CP
+    self.CP_SP = CP_SP
     self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
@@ -61,7 +65,7 @@ class LongControl:
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
+    self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
                                                        should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
     if self.long_control_state == LongCtrlState.off:

selfdrive/controls/lib/longitudinal_planner.py

@@ -51,12 +51,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 
 
 class LongitudinalPlanner(LongitudinalPlannerSP):
-  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
+  def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
     # TODO remove mpc modes when TR released
     self.mpc.mode = 'acc'
-    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
+    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -146,7 +146,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
-    # Get new v_cruise and a_desired from Smart Cruise Control
+    # 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 force_slow_decel:

selfdrive/controls/plannerd.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
+from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -16,14 +17,22 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
+  cloudlog.info("plannerd is waiting for CarParamsSP")
+  CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("plannerd got CarParamsSP")
+
+  gps_location_service = get_gps_location_service(params)
+
   ldw = LaneDepartureWarning()
-  longitudinal_planner = LongitudinalPlanner(CP)
+  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
-                           poll='modelV2')
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
+                           poll='carState')
 
   while True:
     sm.update()
+    longitudinal_planner.sla.update_car_state(sm['carState'])
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)

selfdrive/controls/tests/test_longcontrol.py

@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
 
 
@@ -8,49 +8,52 @@ class TestLongControlStateTransition:
 
   def test_stay_stopped(self):
     CP = car.CarParams.new_message()
+    CP_SP = custom.CarParamsSP.new_message()
     active = True
     current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.pid
     active = False
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.off
 
 def test_engage():
   CP = car.CarParams.new_message()
+  CP_SP = custom.CarParamsSP.new_message()
   active = True
   current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid
 
 def test_starting():
   CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+  CP_SP = custom.CarParamsSP.new_message()
   active = True
   current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid

selfdrive/locationd/torqued.py

@@ -11,6 +11,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.selfdrive.locationd.torqued_ext import TorqueEstimatorExt
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -50,9 +51,10 @@ class TorqueBuckets(PointBuckets):
         break
 
 
-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
   def __init__(self, CP, decimated=False, track_all_points=False):
-    super().__init__()
+    ParameterEstimator.__init__(self)
+    TorqueEstimatorExt.__init__(self, CP)
     self.CP = CP
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = 0.0
@@ -82,6 +84,8 @@ class TorqueEstimator(ParameterEstimator):
 
     self.calibrator = PoseCalibrator()
 
+    TorqueEstimatorExt.initialize_custom_params(self, decimated)
+
     self.reset()
 
     initial_params = {
@@ -260,6 +264,8 @@ def main(demo=False):
           t = sm.logMonoTime[which] * 1e-9
           estimator.handle_log(t, which, sm[which])
 
+    TorqueEstimatorExt.update_use_params(estimator)
+
     # 4Hz driven by livePose
     if sm.frame % 5 == 0:
       pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))

selfdrive/selfdrived/selfdrived.py

@@ -24,6 +24,7 @@ from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroa
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -43,6 +44,7 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
@@ -96,7 +98,7 @@ class SelfdriveD(CruiseHelper):
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP'] + \
+                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -130,7 +132,12 @@ class SelfdriveD(CruiseHelper):
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.experimental_mode = False
-    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
+    self.personality = get_sanitize_int_param(
+      "LongitudinalPersonality",
+      min(log.LongitudinalPersonality.schema.enumerants.values()),
+      max(log.LongitudinalPersonality.schema.enumerants.values()),
+      self.params
+    )
     self.recalibrating_seen = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -159,7 +166,7 @@ class SelfdriveD(CruiseHelper):
     self.mads = ModularAssistiveDrivingSystem(self)
     self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
-    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
+    self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
 
     CruiseHelper.__init__(self, self.CP)
 
@@ -205,6 +212,7 @@ class SelfdriveD(CruiseHelper):
 
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
@@ -298,9 +306,9 @@ class SelfdriveD(CruiseHelper):
 
     # Handle lane turn
     lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
-    if lane_turn_direction == custom.TurnDirection.turnLeft:
+    if lane_turn_direction == TurnDirection.turnLeft:
       self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
-    elif lane_turn_direction == custom.TurnDirection.turnRight:
+    elif lane_turn_direction == TurnDirection.turnRight:
       self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
 
     for i, pandaState in enumerate(self.sm['pandaStates']):
@@ -444,7 +452,7 @@ class SelfdriveD(CruiseHelper):
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
-    self.icbm.run(CS, self.sm['carControl'], self.is_metric)
+    self.icbm.run(CS, self.sm['carControl'], self.sm['longitudinalPlanSP'], self.is_metric)
 
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -51,7 +51,9 @@ class Plant:
     from opendbc.car.honda.values import CAR
     from opendbc.car.honda.interface import CarInterface
 
-    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
+    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
+    self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
 
   @property
   def current_time(self):
@@ -67,6 +69,9 @@ class Plant:
     lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
+    car_state_sp = messaging.new_message('carStateSP')
+    live_map_data_sp = messaging.new_message('liveMapDataSP')
+    gps_data = messaging.new_message('gpsLocation')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
     self.v_lead_prev = v_lead
 
@@ -133,7 +138,10 @@ class Plant:
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2}
+          'modelV2': model.modelV2,
+          'carStateSP': car_state_sp.carStateSP,
+          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
+          'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
     self.speed = self.speed + self.acceleration * self.ts

selfdrive/test/process_replay/migration.py

@@ -28,7 +28,8 @@ MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
 # 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
 # 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
 # 5. all migration functions must be independent of each other
-def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
+def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False,
+                live_location_kalman: bool = True):
   migrations = [
     migrate_sensorEvents,
     migrate_carParams,
@@ -37,7 +38,6 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_carOutput,
     migrate_controlsState,
     migrate_carState,
-    migrate_liveLocationKalman,
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
@@ -51,6 +51,8 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrations.extend([migrate_pandaStates, migrate_peripheralState])
   if camera_states:
     migrations.append(migrate_cameraStates)
+  if live_location_kalman:
+    migrations.append(migrate_liveLocationKalman)
 
   return migrate(lr, migrations)
 

selfdrive/test/process_replay/process_replay.py

@@ -496,7 +496,7 @@ CONFIGS = [
     pubs=[
       "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
     ],
-    subs=["livePose"],
+    subs=["liveLocationKalman", "livePose"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -32,11 +32,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 
   experimentalLongitudinalToggle = new ParamControl(
     "AlphaLongitudinalEnabled",
-    tr("openpilot Longitudinal Control (Alpha)"),
+    tr("sunnypilot Longitudinal Control (Alpha)"),
     QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
-              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+      .arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
+              "Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
     ""
   );
   experimentalLongitudinalToggle->setConfirmation(true, false);

selfdrive/ui/qt/offroad/developer_panel.h

@@ -12,7 +12,7 @@ public:
   explicit DeveloperPanel(SettingsWindow *parent);
   void showEvent(QShowEvent *event) override;
 
-private:
+protected:
   Params params;
   ParamControl* adbToggle;
   ParamControl* joystickToggle;

selfdrive/ui/qt/offroad/settings.cc

@@ -33,13 +33,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/icons/experimental_white.svg",
       false,
     },
-    {
-      "DynamicExperimentalControl",
-      tr("Enable Dynamic Experimental Control"),
-      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-      "../assets/offroad/icon_blank.png",
-      false,
-    },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
@@ -195,7 +188,7 @@ void TogglesPanel::updateToggles() {
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
 
       QString long_desc = unavailable + " " + \
-                          tr("openpilot longitudinal control may come in a future update.");
+                          tr("sunnypilot longitudinal control may come in a future update.");
       if (CP.getAlphaLongitudinalAvailable()) {
         if (is_release) {
           long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");

selfdrive/ui/qt/onroad/alerts.cc

@@ -4,9 +4,6 @@
 #include <map>
 
 #include "selfdrive/ui/qt/util.h"
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#endif
 
 void OnroadAlerts::updateState(const UIState &s) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
@@ -76,12 +73,6 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
-#ifdef SUNNYPILOT
-  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
-  const int adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 30 : 0;
-  r = QRect(0 + margin, height() - h + margin - adjustment, width() - margin*2, h - margin*2);
-#endif
-
   QPainter p(this);
 
   // draw background + gradient

selfdrive/ui/qt/onroad/hud.cc

@@ -47,11 +47,12 @@ void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
 
-
+#ifndef SUNNYPILOT
   if (is_cruise_available) {
     drawSetSpeed(p, surface_rect);
   }
   drawCurrentSpeed(p, surface_rect);
+#endif
 
   p.restore();
 }

selfdrive/ui/qt/onroad/model.cc

@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   update_model(model, lead_one);
   drawLaneLines(painter);
-  drawPath(painter, model, surface_rect);
+  drawPath(painter, model, surface_rect.height());
 
   if (longitudinal_control && sm.alive("radarState")) {
     update_leads(radar_state, model.getPosition());
@@ -34,7 +34,6 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
       drawLead(painter, lead_two, lead_vertices[1], surface_rect);
     }
   }
-  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
 
   painter.restore();
 }
@@ -174,173 +173,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
       (1 - t) * start.alphaF() + t * end.alphaF());
 }
 
-
-void ModelRenderer::drawLeadStatus(QPainter &painter, int height, int width) {
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-
-    if (!sm.alive("radarState")) return;
-
-    const auto &radar_state = sm["radarState"].getRadarState();
-    const auto &lead_one = radar_state.getLeadOne();
-    const auto &lead_two = radar_state.getLeadTwo();
-
-    // Check if we have any active leads
-    bool has_lead_one = lead_one.getStatus();
-    bool has_lead_two = lead_two.getStatus();
-
-    if (!has_lead_one && !has_lead_two) {
-        // Fade out status display
-        lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
-        if (lead_status_alpha <= 0.0f) return;
-    } else {
-        // Fade in status display
-        lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
-    }
-
-    // Draw status for each lead vehicle under its chevron
-    if (true) {
-        drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
-    }
-
-    if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-        drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
-    }
-}
-
-void ModelRenderer::drawLeadStatusAtPosition(QPainter &painter,
-                                           const cereal::RadarState::LeadData::Reader &lead_data,
-                                           const QPointF &chevron_pos,
-                                           int height, int width,
-                                           const QString &label) {
-
-    float d_rel = lead_data.getDRel();
-    float v_rel = lead_data.getVRel();
-    auto *s = uiState();
-    auto &sm = *(s->sm);
-    float v_ego = sm["carState"].getCarState().getVEgo();
-
-    int chevron_data = std::atoi(Params().get("ChevronInfo").c_str());
-
-    // Calculate chevron size (same logic as drawLead)
-    float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
-
-    QFont content_font = painter.font();
-    content_font.setPixelSize(35);
-    content_font.setBold(true);
-    painter.setFont(content_font);
-
-    QFontMetrics fm(content_font);
-    bool is_metric = s->scene.is_metric;
-
-    QStringList text_lines;
-
-    const int chevron_types = 3;
-    const int chevron_all = chevron_types + 1;  // All metrics (value 4)
-    QStringList chevron_text[chevron_types];
-    int position;
-    float val;
-
-    // Distance display (chevron_data == 1 or all)
-    if (chevron_data == 1 || chevron_data == chevron_all) {
-        position = 0;
-        val = std::max(0.0f, d_rel);
-        QString distance_unit = is_metric ? "m" : "ft";
-        if (!is_metric) {
-            val *= 3.28084f; // Convert meters to feet
-        }
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + distance_unit);
-    }
-
-    // Absolute velocity display (chevron_data == 2 or all)
-    if (chevron_data == 2 || chevron_data == chevron_all) {
-        position = (chevron_data == 2) ? 0 : 1;
-        val = std::max(0.0f, (v_rel + v_ego) * (is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH)));
-        chevron_text[position].append(QString::number(val, 'f', 0) + " " + (is_metric ? "km/h" : "mph"));
-    }
-
-    // Time-to-contact display (chevron_data == 3 or all)
-    if (chevron_data == 3 || chevron_data == chevron_all) {
-        position = (chevron_data == 3) ? 0 : 2;
-        val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
-        QString ttc_str = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
-        chevron_text[position].append(ttc_str);
-    }
-
-    // Collect all non-empty text lines
-    for (int i = 0; i < chevron_types; ++i) {
-        if (!chevron_text[i].isEmpty()) {
-            text_lines.append(chevron_text[i]);
-        }
-    }
-
-    // If no text to display, return early
-    if (text_lines.isEmpty()) {
-        return;
-    }
-
-    // Text box dimensions
-    float str_w = 150;  // Width of text area
-    float str_h = 45;   // Height per line
-
-    // Position text below chevron, centered horizontally
-    float text_x = chevron_pos.x() - str_w / 2;
-    float text_y = chevron_pos.y() + sz + 15;
-
-    // Clamp to screen bounds
-    text_x = std::clamp(text_x, 10.0f, (float)width - str_w - 10);
-
-    // Shadow offset
-    QPoint shadow_offset(2, 2);
-
-    // Draw each line of text with shadow
-    for (int i = 0; i < text_lines.size(); ++i) {
-        if (!text_lines[i].isEmpty()) {
-            QRect textRect(text_x, text_y + (i * str_h), str_w, str_h);
-
-            // Draw shadow
-            painter.setPen(QColor(0x0, 0x0, 0x0, (int)(200 * lead_status_alpha)));
-            painter.drawText(textRect.translated(shadow_offset.x(), shadow_offset.y()),
-                           Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-
-            // Determine text color based on content and danger level
-            QColor text_color;
-
-            // Check if this is a distance line (contains 'm' or 'ft')
-            if (text_lines[i].contains("m") || text_lines[i].contains("ft")) {
-                if (d_rel < 20.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - danger
-                } else if (d_rel < 40.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(80, 255, 120, (int)(255 * lead_status_alpha)); // Green - safe
-                }
-            }
-            // Enhanced color coding for time-to-contact
-            else if (text_lines[i].contains("s") && !text_lines[i].contains("---")) {
-                float ttc_val = text_lines[i].left(text_lines[i].length() - 1).toFloat();
-                if (ttc_val < 3.0f) {
-                    text_color = QColor(255, 80, 80, (int)(255 * lead_status_alpha)); // Red - urgent
-                } else if (ttc_val < 6.0f) {
-                    text_color = QColor(255, 200, 80, (int)(255 * lead_status_alpha)); // Yellow - caution
-                } else {
-                    text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White - safe
-                }
-            }
-            else {
-                text_color = QColor(0xff, 0xff, 0xff, (int)(255 * lead_status_alpha)); // White for other lines
-            }
-
-            // Draw main text
-            painter.setPen(text_color);
-            painter.drawText(textRect, Qt::AlignBottom | Qt::AlignHCenter, text_lines[i]);
-        }
-    }
-
-    // Reset pen
-    painter.setPen(Qt::NoPen);
-}
-
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -34,20 +34,11 @@ protected:
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                         QPolygonF *pvd, int max_idx, bool allow_invert = true);
-  void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusAtPosition(QPainter &painter,
-                             const cereal::RadarState::LeadData::Reader &lead_data,
-                             const QPointF &chevron_pos,
-                             int height, int width,
-                             const QString &label);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
   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);
-  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
-    drawPath(painter, model, surface_rect.height());
-  }
   void updatePathGradient(QLinearGradient &bg);
   QColor blendColors(const QColor &start, const QColor &end, float t);
 
@@ -64,9 +55,4 @@ protected:
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
-
-  float lead_status_alpha = 0.0f;
-  QPointF lead_status_pos;
-  QString lead_status_text;
-  QColor lead_status_color;
 };

selfdrive/ui/qt/onroad/onroad_home.h

@@ -4,8 +4,10 @@
 
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/alerts.h"
 #define UIState UIStateSP
 #define AnnotatedCameraWidget AnnotatedCameraWidgetSP
+#define OnroadAlerts OnroadAlertsSP
 #else
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 #endif

selfdrive/ui/qt/window.cc

@@ -92,6 +92,16 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
       // ignore events when device is awakened by resetInteractiveTimeout
       ignore = !device()->isAwake();
       device()->resetInteractiveTimeout();
+
+#ifdef SUNNYPILOT
+      auto *s_sp = uiStateSP();
+      bool onroadScreenControl = s_sp->scene.onroadScreenOffControl;
+      bool started = s_sp->scene.started;
+      bool timerExpired = (s_sp->scene.onroadScreenOffTimer == 0);
+      ignore |= (onroadScreenControl and started and timerExpired);
+      s_sp->reset_onroad_sleep_timer();
+#endif
+
       break;
     }
     default:

selfdrive/ui/qt/window.h

@@ -7,6 +7,10 @@
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/ui.h"
+#endif
+
 class MainWindow : public QWidget {
   Q_OBJECT
 

selfdrive/ui/soundd.py

@@ -4,7 +4,7 @@ import time
 import wave
 
 
-from cereal import car, messaging
+from cereal import car, messaging, custom
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -26,8 +26,15 @@ AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 
 
+sound_list_sp: dict[int, tuple[str, int | None, float]] = {
+  # AudibleAlertSP, file name, play count (none for infinite)
+  AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
+  AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
+}
+
 sound_list: dict[int, tuple[str, int | None, float]] = {
   # AudibleAlert, file name, play count (none for infinite)
   AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
@@ -40,6 +47,8 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
 
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  **sound_list_sp,
 }
 
 def check_selfdrive_timeout_alert(sm):

selfdrive/ui/sunnypilot/SConscript

@@ -24,6 +24,7 @@ qt_src = [
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/developer_panel.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
+  "sunnypilot/qt/offroad/settings/display_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
   "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
@@ -37,6 +38,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",
+  "sunnypilot/qt/onroad/alerts.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
   "sunnypilot/qt/onroad/developer_ui/developer_ui.cc",
@@ -50,10 +52,14 @@ lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
+  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
+  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",
 ]
 
 longitudinal_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc",
 ]
 
 network_src = [
@@ -88,9 +94,13 @@ brand_settings_qt_src = [
   "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
 ]
 
+display_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc",
+]
 
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + \
+            longitudinal_panel_qt_src + osm_panel_qt_src + display_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")

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

@@ -25,8 +25,8 @@ const QMap<QString, QString> Brightness::brightness_options = {
 
 Brightness::Brightness() : OptionControlSP(
   "Brightness",
-  tr("Brightness"),
-  tr("Overrides the brightness of the device."),
+  tr("Global Brightness"),
+  tr("Overrides the brightness of the device. This applies to both onroad and offroad screens. "),
   "../assets/offroad/icon_blank.png",
   {0, 11}, 1, true, &brightness_options) {
 

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

@@ -56,14 +56,13 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare
   addItem(errorLogBtn);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanelSP::updateToggles);
-
-  is_release = params.getBool("IsReleaseBranch");
-  is_tested = params.getBool("IsTestedBranch");
-  is_development = params.getBool("IsDevelopmentBranch");
 }
 
 void DeveloperPanelSP::updateToggles(bool offroad) {
   bool disable_updates = params.getBool("DisableUpdates");
+  bool is_release = params.getBool("IsReleaseBranch") || params.getBool("IsReleaseSpBranch");
+  bool is_tested = params.getBool("IsTestedBranch");
+  bool is_development = params.getBool("IsDevelopmentBranch");
 
   prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
   prebuiltToggle->setEnabled(disable_updates);
@@ -80,6 +79,9 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
   enableGithubRunner->setVisible(!is_release);
   errorLogBtn->setVisible(!is_release);
   showAdvancedControls->setEnabled(true);
+
+  joystickToggle->setVisible(!is_release);
+  longManeuverToggle->setVisible(!is_release);
 }
 
 void DeveloperPanelSP::showEvent(QShowEvent *event) {

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

@@ -22,9 +22,6 @@ private:
   ParamControlSP *prebuiltToggle;
   Params params;
   ParamControlSP *showAdvancedControls;
-  bool is_development;
-  bool is_release;
-  bool is_tested;
 
 private slots:
   void updateToggles(bool offroad);

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

@@ -23,6 +23,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
     {"regulatoryBtn", tr("Regulatory"), ""},
     {"translateBtn", tr("Language"), ""},
     {"resetParams", tr("Reset Settings"), ""},
+    {"onroadUploadsBtn", tr("Onroad Uploads"), "OnroadUploads"}
   };
 
   int row = 0, col = 0;
@@ -75,35 +76,21 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);
 
+  connect(buttons["onroadUploadsBtn"], &PushButtonSP::clicked, buttons["onroadUploadsBtn"], &PushButtonSP::updateButton);
+
   // Max Time Offroad
   maxTimeOffroad = new MaxTimeOffroad();
   connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
   addItem(maxTimeOffroad);
 
-    toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
+  toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
   addItem(toggleDeviceBootMode);
 
   connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) {
     params.put("DeviceBootMode", QString::number(index).toStdString());
-    updateState();
+    updateState(offroad);
   });
 
-  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
-                                     tr("Apply a custom timeout for settings UI."
-                                        "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
-                                     "", {0, 120}, 10, true, nullptr, false);
-
-  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
-    updateState();
-  });
-
-  addItem(interactivityTimeout);
-  
-  // Brightness
-  brightness = new Brightness();
-  connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
-  addItem(brightness);
-
   addItem(device_grid_layout);
 
   // offroad mode and power buttons
@@ -129,29 +116,21 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   offroadBtn->setFixedWidth(power_layout->sizeHint().width());
   QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
 
-  QVBoxLayout *power_group_layout = new QVBoxLayout();
+  power_group_layout = new QVBoxLayout();
   power_group_layout->setSpacing(25);
-  power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
   power_group_layout->addLayout(power_layout);
 
   addItem(power_group_layout);
 
-  std::vector always_enabled_btns = {
+  always_enabled_btns = {
     rebootBtn,
     poweroffBtn,
     offroadBtn,
     buttons["quietModeBtn"],
+    buttons["onroadUploadsBtn"],
   };
 
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<PushButtonSP*>()) {
-      bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
-
-      if (!always_enabled) {
-        btn->setEnabled(offroad);
-      }
-    }
-  });
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &DevicePanelSP::updateState);
 }
 
 void DevicePanelSP::setOffroadMode() {
@@ -175,7 +154,7 @@ void DevicePanelSP::setOffroadMode() {
     ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this);
   }
 
-  updateState();
+  updateState(offroad);
 }
 
 void DevicePanelSP::resetSettings() {
@@ -192,16 +171,20 @@ void DevicePanelSP::resetSettings() {
 }
 
 void DevicePanelSP::showEvent(QShowEvent *event) {
-  updateState();
+  updateState(offroad);
 }
 
-void DevicePanelSP::updateState() {
-  if (!isVisible()) {
-    return;
+void DevicePanelSP::updateState(bool _offroad) {
+  for (auto btn : findChildren<PushButtonSP*>()) {
+    bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
+
+    if (!always_enabled) {
+      btn->setEnabled(_offroad);
+    }
   }
 
   bool offroad_mode_param = params.getBool("OffroadMode");
-  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
+  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Enable Always Offroad"));
   offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
 
   DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT;
@@ -210,10 +193,11 @@ void DevicePanelSP::updateState() {
   }
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 
-  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
-    interactivityTimeout->setLabel("Default");
+  if (offroad and not offroad_mode_param) {
+    power_group_layout->insertWidget(0, offroadBtn, 0, Qt::AlignHCenter);
   } else {
-    interactivityTimeout->setLabel(timeoutValue + "s");
+    AddWidgetAt(0, offroadBtn);
   }
+
+  offroad = _offroad;
 }

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

@@ -8,7 +8,6 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
@@ -24,7 +23,7 @@ public:
   explicit DevicePanelSP(SettingsWindowSP *parent = 0);
   void showEvent(QShowEvent *event) override;
   void setOffroadMode();
-  void updateState();
+  void updateState(bool _offroad);
   void resetSettings();
 
 private:
@@ -32,8 +31,10 @@ private:
   PushButtonSP *offroadBtn;
   MaxTimeOffroad *maxTimeOffroad;
   ButtonParamControlSP *toggleDeviceBootMode;
-  Brightness *brightness;
-  OptionControlSP *interactivityTimeout;
+  QVBoxLayout *power_group_layout;
+  bool offroad;
+
+  std::vector<PushButtonSP*> always_enabled_btns = {};
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {

selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.cc

@@ -0,0 +1,54 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
+
+OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &param, const QString &title,
+                                                             const QString &description, const QString &icon,
+                                                             QWidget *parent)
+  : ExpandableToggleRow(param, title, description, icon, parent) {
+  auto *mainFrame = new QFrame(this);
+  auto *mainFrameLayout = new QVBoxLayout();
+  mainFrame->setLayout(mainFrameLayout);
+  mainFrameLayout->setSpacing(30);
+  mainFrameLayout->setContentsMargins(0, 0, 0, 0);
+
+  onroadScreenOffTimer = new OptionControlSP(
+    "OnroadScreenOffTimer",
+    "Onroad Brightness Delay",
+    "",
+    "",
+    {0, 11}, 1, true, &onroadScreenOffTimerOptions);
+
+  onroadScreenBrightness = new OptionControlSP(
+    "OnroadScreenOffBrightness",
+    "Onroad Brightness",
+    "",
+    "",
+    {0, 90}, 10, true);
+
+  connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
+  connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
+  mainFrameLayout->addWidget(onroadScreenBrightness);
+  mainFrameLayout->addWidget(onroadScreenOffTimer);
+
+  addItem(mainFrame);
+
+  refresh();
+}
+
+void OnroadScreenBrightnessControl::refresh() {
+  // Driving Screen Off Timer
+  int valTimer = std::atoi(params.get("OnroadScreenOffTimer").c_str());
+  std::string labelTimer = (valTimer < 60 ? std::to_string(valTimer) + "s" : std::to_string(valTimer / 60) + "m");
+  onroadScreenOffTimer->setLabel(QString::fromStdString(labelTimer));
+
+  // Driving Screen Off Brightness
+  std::string valBrightness = params.get("OnroadScreenOffBrightness");
+  std::string labelBrightness = (valBrightness == "0" ? " Screen Off" : valBrightness + "%");
+  onroadScreenBrightness->setLabel(QString::fromStdString(labelBrightness));
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h

@@ -0,0 +1,42 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+static const QMap<QString, QString> onroadScreenOffTimerOptions = {
+  {"0", "15"},
+  {"1", "30"},
+  {"2", "60"},
+  {"3", "120"},
+  {"4", "180"},
+  {"5", "240"},
+  {"6", "300"},
+  {"7", "360"},
+  {"8", "420"},
+  {"9", "480"},
+  {"10", "540"},
+  {"11", "600"}
+};
+
+class OnroadScreenBrightnessControl : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  OnroadScreenBrightnessControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                                QWidget *parent = nullptr);
+  void refresh();
+
+private:
+  Params params;
+  OptionControlSP *onroadScreenOffTimer;
+  OptionControlSP *onroadScreenBrightness;
+};

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

@@ -0,0 +1,65 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
+
+DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
+  main_layout = new QStackedLayout(this);
+  ListWidgetSP *list = new ListWidgetSP(this, false);
+
+  sunnypilotScreen = new QWidget(this);
+  QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+
+  // Onroad Screen Off/Brightness
+  onroadScreenBrightnessControl = new OnroadScreenBrightnessControl(
+    "OnroadScreenOffControl",
+    tr("Onroad Screen: Reduced Brightness"),
+    tr("Turn off device screen or reduce brightness after driving starts. "
+       "It automatically brightens again when screen is touched or a visible alert is displayed."),
+    "",
+    this);
+  list->addItem(onroadScreenBrightnessControl);
+  list->addItem(horizontal_line());
+
+  // Global Brightness
+  brightness = new Brightness();
+  connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
+  list->addItem(brightness);
+  list->addItem(horizontal_line());
+
+  // Interactivity Timeout
+  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
+                                   tr("Apply a custom timeout for settings UI."
+                                      "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
+                                   "", {0, 120}, 10, true, nullptr, false);
+
+  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
+    refresh();
+  });
+  list->addItem(interactivityTimeout);
+
+  sunnypilotScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(sunnypilotScroller);
+  main_layout->addWidget(sunnypilotScreen);
+}
+
+void DisplayPanel::showEvent(QShowEvent *event) {
+  QWidget::showEvent(event);
+  refresh();
+}
+
+void DisplayPanel::refresh() {
+  onroadScreenBrightnessControl->refresh();
+
+  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
+  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
+    interactivityTimeout->setLabel("Default");
+  } else {
+    interactivityTimeout->setLabel(timeoutValue + "s");
+  }
+}

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

@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display/onroad_screen_brightness.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class DisplayPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit DisplayPanel(QWidget *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+  void refresh();
+
+private:
+  QStackedLayout* main_layout = nullptr;
+  QWidget* sunnypilotScreen = nullptr;
+  ScrollViewSP *sunnypilotScroller = nullptr;
+  Params params;
+  OnroadScreenBrightnessControl *onroadScreenBrightnessControl = nullptr;
+  Brightness *brightness;
+  OptionControlSP *interactivityTimeout;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc

@@ -52,12 +52,16 @@ void MadsSettings::updateToggles(bool _offroad) {
   );
 
   auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
-    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+    if (madsLimitedSettings(CP, CP_SP)) {
       params.remove("MadsMainCruiseAllowed");
       params.putBool("MadsUnifiedEngagementMode", true);
       params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h

@@ -12,7 +12,16 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
+inline bool madsLimitedSettings(const cereal::CarParams::Reader &CP, const cereal::CarParamsSP::Reader &CP_SP) {
+  if (CP.getBrand() == "rivian") {
+    return true;
+  }
+  if (CP.getBrand() == "tesla") {
+    return !(CP_SP.getFlags() & 1);  // 1 == TeslaFlagsSP.HAS_VEHICLE_BUS
+  }
+
+  return false;
+}
 
 enum class MadsSteeringMode {
   REMAIN_ACTIVE = 0,

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc

@@ -10,14 +10,15 @@
 NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
   ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"),  "", "") {
   setConfirmation(true, false);
-  updateToggle();
+  updateToggle(offroad);
 }
 
-void NeuralNetworkLateralControl::updateToggle() {
+void NeuralNetworkLateralControl::updateToggle(bool _offroad) {
   QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
   QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
   QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
 
+  bool allowed = true;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -31,7 +32,7 @@ void NeuralNetworkLateralControl::updateToggle() {
     if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
       params.remove("NeuralNetworkLateralControl");
       setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE));
-      setEnabled(false);
+      allowed = false;
     } else {
       QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
       QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ?
@@ -56,4 +57,11 @@ void NeuralNetworkLateralControl::updateToggle() {
   if (getDescription() != getBaseDescription()) {
     showDescription();
   }
+
+  bool enforce_torque_toggle = params.getBool("EnforceTorqueControl");
+  setEnabled(_offroad && allowed && !enforce_torque_toggle);
+
+  refresh();
+
+  offroad = _offroad;
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h

@@ -20,10 +20,11 @@ public:
   NeuralNetworkLateralControl();
 
 public slots:
-  void updateToggle();
+  void updateToggle(bool _offroad);
 
 private:
   Params params;
+  bool offroad;
 
   // Status messages
   const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc

@@ -0,0 +1,58 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
+
+TorqueLateralControlCustomParams::TorqueLateralControlCustomParams(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, description, icon, parent) {
+
+  QFrame *frame = new QFrame(this);
+  QGridLayout *frame_layout = new QGridLayout();
+  frame->setLayout(frame_layout);
+  frame_layout->setSpacing(0);
+
+  torqueLateralControlParamsOverride = new ParamControl(
+    "TorqueParamsOverrideEnabled",
+    tr("Manual Real-Time Tuning"),
+    tr("Enforces the torque lateral controller to use the fixed values instead of the learned values from Self-Tune. Enabling this toggle overrides Self-Tune values."),
+    "../assets/offroad/icon_blank.png",
+    this
+  );
+  connect(torqueLateralControlParamsOverride, &ParamControl::toggleFlipped, this, &TorqueLateralControlCustomParams::refresh);
+
+  torqueParamsOverrideLatAccelFactor = new OptionControlSP("TorqueParamsOverrideLatAccelFactor", tr("Lateral Acceleration Factor"), "", "", {1, 500}, 1, false, nullptr, true, false);
+  connect(torqueParamsOverrideLatAccelFactor, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
+  torqueParamsOverrideLatAccelFactor->setFixedWidth(280);
+
+  torqueParamsOverrideFriction = new OptionControlSP("TorqueParamsOverrideFriction", tr("Friction"), "", "", {1, 100}, 1, false, nullptr, true, false);
+  connect(torqueParamsOverrideFriction, &OptionControlSP::updateLabels, this, &TorqueLateralControlCustomParams::refresh);
+  torqueParamsOverrideFriction->setFixedWidth(280);
+
+  frame_layout->addWidget(torqueLateralControlParamsOverride, 0, 0, 1, 2);
+  QSpacerItem *spacer = new QSpacerItem(20, 40);
+  frame_layout->addItem(spacer, 1, 0, 1, 2);
+  frame_layout->addWidget(torqueParamsOverrideLatAccelFactor, 2, 0, Qt::AlignCenter);
+  frame_layout->addWidget(torqueParamsOverrideFriction, 2, 1, Qt::AlignCenter);
+
+  addItem(frame);
+
+  refresh();
+}
+
+void TorqueLateralControlCustomParams::refresh() {
+  bool torque_override_param = params.getBool("TorqueParamsOverrideEnabled");
+  float laf_param = QString::fromStdString(params.get("TorqueParamsOverrideLatAccelFactor")).toFloat();
+  const QString laf_unit = "m/s²";
+
+  float friction_param = QString::fromStdString(params.get("TorqueParamsOverrideFriction")).toFloat();
+
+  torqueParamsOverrideLatAccelFactor->setTitle(tr("Lateral Acceleration Factor") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
+  torqueParamsOverrideFriction->setTitle(tr("Friction") + "\n(" + (torque_override_param ? tr("Real-time and Offline") : tr("Offline Only")) + ")");
+
+  torqueParamsOverrideLatAccelFactor->setLabel(QString::number(laf_param, 'f', 2) + " " + laf_unit);
+  torqueParamsOverrideFriction->setLabel(QString::number(friction_param, 'f', 2));
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h

@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class TorqueLateralControlCustomParams : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  TorqueLateralControlCustomParams(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr);
+  void refresh();
+
+private:
+  Params params;
+  ParamControl *torqueLateralControlParamsOverride;
+  OptionControlSP *torqueParamsOverrideFriction;
+  OptionControlSP *torqueParamsOverrideLatAccelFactor;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc

@@ -0,0 +1,81 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+TorqueLateralControlSettings::TorqueLateralControlSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  ListWidget *list = new ListWidget(this, false);
+  // param, title, desc, icon
+  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
+    {
+      "LiveTorqueParamsToggle",
+      tr("Self-Tune"),
+      tr("Enables self-tune for Torque lateral control for platforms that do not use Torque lateral control by default."),
+      "../assets/offroad/icon_blank.png",
+    },
+    {
+      "LiveTorqueParamsRelaxedToggle",
+      tr("Less Restrict Settings for Self-Tune (Beta)"),
+      tr("Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."),
+      "../assets/offroad/icon_blank.png",
+    }
+  };
+
+  for (auto &[param, title, desc, icon] : toggle_defs) {
+    auto toggle = new ParamControlSP(param, title, desc, icon, this);
+    list->addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+  }
+
+  torqueLateralControlCustomParams = new TorqueLateralControlCustomParams(
+    "CustomTorqueParams",
+    tr("Enable Custom Tuning"),
+    tr("Enables custom tuning for Torque lateral control. Modifying Lateral Acceleration Factor and Friction below will override the offline values indicated in the YAML files within \"opendbc/car/torque_data\". "
+       "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."),
+    "../assets/offroad/icon_blank.png",
+    this);
+  list->addItem(torqueLateralControlCustomParams);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &TorqueLateralControlSettings::updateToggles);
+  QObject::connect(toggles["LiveTorqueParamsToggle"], &ParamControlSP::toggleFlipped, [=](bool state) {
+    if (!state) {
+      params.remove("LiveTorqueParamsRelaxedToggle");
+      toggles["LiveTorqueParamsRelaxedToggle"]->refresh();
+    }
+
+    updateToggles(offroad);
+  });
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+}
+
+void TorqueLateralControlSettings::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}
+
+void TorqueLateralControlSettings::updateToggles(bool _offroad) {
+  bool live_toggle = toggles["LiveTorqueParamsToggle"]->isToggled();
+
+  toggles["LiveTorqueParamsToggle"]->setEnabled(_offroad);
+  toggles["LiveTorqueParamsRelaxedToggle"]->setEnabled(_offroad && live_toggle);
+
+  torqueLateralControlCustomParams->setEnabled(_offroad);
+  torqueLateralControlCustomParams->refresh();
+
+  offroad = _offroad;
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h

@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class TorqueLateralControlSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit TorqueLateralControlSettings(QWidget *parent = nullptr);
+
+  void showEvent(QShowEvent *event) override;
+
+  signals:
+    void backPress();
+
+public slots:
+  void updateToggles(bool _offroad);
+
+private:
+  Params params;
+  bool offroad;
+  std::map<std::string, ParamControlSP*> toggles;
+
+  TorqueLateralControlCustomParams *torqueLateralControlCustomParams;
+};

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

@@ -75,6 +75,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   list->addItem(horizontal_line());
 
+  // Customized Torque Lateral Control
+  torqueLateralControlToggle = new ParamControl(
+    "EnforceTorqueControl",
+    tr("Enforce Torque Lateral Control"),
+    tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
+    "");
+  list->addItem(torqueLateralControlToggle);
+
+  torqueLateralControlSettingsButton = new PushButtonSP(tr("Customize Params"));
+  torqueLateralControlSettingsButton->setObjectName("torque_btn");
+  connect(torqueLateralControlSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(torqueLateralControlWidget);
+  });
+  QObject::connect(torqueLateralControlToggle, &ToggleControl::toggleFlipped, [=](bool state) {
+    torqueLateralControlSettingsButton->setEnabled(state);
+    nnlcToggle->updateToggle(offroad);
+    updateToggles(offroad);
+  });
+
+  torqueLateralControlWidget = new TorqueLateralControlSettings(this);
+  connect(torqueLateralControlWidget, &TorqueLateralControlSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(torqueLateralControlSettingsButton);
+
+  list->addItem(vertical_space(0));
+  list->addItem(horizontal_line());
+
   // Neural Network Lateral Control
   nnlcToggle = new NeuralNetworkLateralControl();
   list->addItem(nnlcToggle);
@@ -86,12 +116,10 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
       nnlcToggle->hideDescription();
     }
 
-    nnlcToggle->updateToggle();
+    nnlcToggle->updateToggle(offroad);
+    updateToggles(offroad);
   });
 
-  toggleOffroadOnly = {
-    madsToggle, nnlcToggle,
-  };
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
   sunnypilotScroller = new ScrollViewSP(list, this);
@@ -100,6 +128,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
   main_layout->addWidget(laneChangeWidget);
+  main_layout->addWidget(torqueLateralControlWidget);
 
   setStyleSheet(R"(
     #back_btn {
@@ -120,7 +149,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 }
 
 void LateralPanel::showEvent(QShowEvent *event) {
-  nnlcToggle->updateToggle();
+  nnlcToggle->updateToggle(offroad);
   updateToggles(offroad);
 }
 
@@ -129,27 +158,40 @@ void LateralPanel::hideEvent(QHideEvent *event) {
 }
 
 void LateralPanel::updateToggles(bool _offroad) {
-  for (auto *toggle : toggleOffroadOnly) {
-    toggle->setEnabled(_offroad);
-  }
-
+  bool torque_allowed = true;
   auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
-    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+    if (madsLimitedSettings(CP, CP_SP)) {
       madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
     } else {
       madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
     }
+
+    if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
+      params.remove("EnforceTorqueControl");
+      torque_allowed = false;
+    }
   } else {
     madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
+
+    params.remove("EnforceTorqueControl");
+    torque_allowed = false;
   }
 
+  madsToggle->setEnabled(_offroad);
   madsSettingsButton->setEnabled(madsToggle->isToggled());
 
+  torqueLateralControlToggle->setEnabled(_offroad && torque_allowed && !nnlcToggle->isToggled());
+  torqueLateralControlSettingsButton->setEnabled(torqueLateralControlToggle->isToggled());
+
   blinkerPauseLateralSettings->refresh();
 
   offroad = _offroad;

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

@@ -15,6 +15,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
@@ -35,7 +36,6 @@ private:
   QStackedLayout* main_layout = nullptr;
   QWidget* sunnypilotScreen = nullptr;
   ScrollViewSP *sunnypilotScroller = nullptr;
-  std::vector<ParamControl *> toggleOffroadOnly;
   bool offroad;
 
   ParamControl *madsToggle;
@@ -45,6 +45,9 @@ private:
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
   BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr;
+  ParamControl *torqueLateralControlToggle;
+  PushButtonSP *torqueLateralControlSettingsButton;
+  TorqueLateralControlSettings *torqueLateralControlWidget = nullptr;
 
   const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
 

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h

@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#pragma once
+
+enum class SpeedLimitOffsetType {
+  NONE,
+  FIXED,
+  PERCENT,
+};
+
+inline const QString SpeedLimitOffsetTypeTexts[]{
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "None"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Fixed"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Percent"),
+};
+
+enum class SpeedLimitSourcePolicy {
+  CAR_ONLY,
+  MAP_ONLY,
+  CAR_FIRST,
+  MAP_FIRST,
+  COMBINED,
+};
+
+inline const QString SpeedLimitSourcePolicyTexts[]{
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nOnly"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nFirst"),
+  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Combined\nData")
+};
+
+enum class SpeedLimitMode {
+  OFF,
+  INFORMATION,
+  WARNING,
+  ASSIST,
+};
+
+inline const QString SpeedLimitModeTexts[]{
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Off"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Information"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Warning"),
+  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Assist"),
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+#include <QScrollBar>
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
+
+SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  main_layout->addSpacing(10);
+
+  ListWidgetSP *list = new ListWidgetSP(this);
+
+  std::vector<QString> speed_limit_policy_texts{
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)].toStdString().c_str()),
+    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)].toStdString().c_str())
+  };
+  speed_limit_policy = new ButtonParamControlSP(
+    "SpeedLimitPolicy",
+    tr("Speed Limit Source"),
+    "",
+    "",
+    speed_limit_policy_texts,
+    250);
+  list->addItem(speed_limit_policy);
+  connect(speed_limit_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitPolicy::refresh);
+
+  speedLimitPolicyScroller = new ScrollViewSP(list, this);
+  main_layout->addWidget(speedLimitPolicyScroller);
+  refresh();
+};
+
+void SpeedLimitPolicy::refresh() {
+  SpeedLimitSourcePolicy policy_param = static_cast<SpeedLimitSourcePolicy>(std::atoi(params.get("SpeedLimitPolicy").c_str()));
+  speed_limit_policy->setDescription(sourceDescription(policy_param));
+}
+
+void SpeedLimitPolicy::showEvent(QShowEvent *event) {
+  speedLimitPolicyScroller->verticalScrollBar()->setValue(0);
+  refresh();
+  speed_limit_policy->showDescription();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h

@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class SpeedLimitPolicy : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SpeedLimitPolicy(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ButtonParamControlSP *speed_limit_policy;
+  ScrollViewSP *speedLimitPolicyScroller;
+
+  static QString sourceDescription(SpeedLimitSourcePolicy type = SpeedLimitSourcePolicy::CAR_ONLY) {
+    QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
+    QString map_only = tr("⦿ Map Only: Use Speed Limit data only from OpenStreetMaps");
+    QString car_first = tr("⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps");
+    QString map_first = tr("⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car");
+    QString combined = tr("⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps");
+
+    if (type == SpeedLimitSourcePolicy::CAR_ONLY) {
+      car_only = "<font color='white'><b>" + car_only + "</b></font>";
+    } else if (type == SpeedLimitSourcePolicy::MAP_ONLY) {
+      map_only = "<font color='white'><b>" + map_only + "</b></font>";
+    } else if (type == SpeedLimitSourcePolicy::CAR_FIRST) {
+      car_first = "<font color='white'><b>" + car_first + "</b></font>";
+    } else if (type == SpeedLimitSourcePolicy::MAP_FIRST) {
+      map_first = "<font color='white'><b>" + map_first + "</b></font>";
+    } else {
+      combined = "<font color='white'><b>" + combined + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3<br>%4<br>%5")
+        .arg(car_only)
+        .arg(map_only)
+        .arg(car_first)
+        .arg(map_first)
+        .arg(combined);
+  }
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc

@@ -0,0 +1,180 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
+SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
+  subPanelFrame = new QFrame();
+  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
+  subPanelLayout->setContentsMargins(0, 0, 0, 0);
+  subPanelLayout->setSpacing(0);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton(tr("Back"));
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  subPanelLayout->addWidget(back, 0, Qt::AlignLeft);
+
+  subPanelLayout->addSpacing(20);
+
+  ListWidgetSP *list = new ListWidgetSP(this, false);
+
+  speedLimitPolicyScreen = new SpeedLimitPolicy(this);
+
+  std::vector<QString> speed_limit_mode_texts{
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)].toStdString().c_str()),
+    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)].toStdString().c_str())
+  };
+  speed_limit_mode_settings = new ButtonParamControlSP(
+    "SpeedLimitMode",
+    tr("Speed Limit"),
+    "",
+    "",
+    speed_limit_mode_texts,
+    380);
+  list->addItem(speed_limit_mode_settings);
+
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
+  speedLimitSource = new PushButtonSP(tr("Customize Source"));
+  connect(speedLimitSource, &QPushButton::clicked, [&]() {
+    speedLimitScroller->setLastScrollPosition();
+    setCurrentWidget(speedLimitPolicyScreen);
+    speedLimitPolicyScreen->refresh();
+  });
+  connect(speedLimitPolicyScreen, &SpeedLimitPolicy::backPress, [&]() {
+    speedLimitScroller->restoreScrollPosition();
+    setCurrentWidget(subPanelFrame);
+    showEvent(new QShowEvent());
+  });
+
+  speedLimitSource->setFixedWidth(720);
+  list->addItem(speedLimitSource);
+
+  list->addItem(vertical_space(0));
+  list->addItem(horizontal_line());
+
+  QFrame *offsetFrame = new QFrame(this);
+  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
+
+  std::vector<QString> speed_limit_offset_texts{
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)].toStdString().c_str()),
+    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)].toStdString().c_str())
+  };
+  speed_limit_offset_settings = new ButtonParamControlSP(
+    "SpeedLimitOffsetType",
+    tr("Speed Limit Offset"),
+    "",
+    "",
+    speed_limit_offset_texts,
+    500);
+
+  offsetLayout->addWidget(speed_limit_offset_settings);
+
+  speed_limit_offset = new OptionControlSP(
+    "SpeedLimitValueOffset",
+    "",
+    "",
+    "",
+    {-30, 30}
+    );
+  offsetLayout->addWidget(speed_limit_offset);
+
+  list->addItem(offsetFrame);
+
+  connect(speed_limit_mode_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
+  connect(speed_limit_offset, &OptionControlSP::updateLabels, this, &SpeedLimitSettings::refresh);
+  connect(speed_limit_offset_settings, &ButtonParamControlSP::showDescriptionEvent, speed_limit_offset, &OptionControlSP::showDescription);
+  connect(speed_limit_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
+
+  refresh();
+  speedLimitScroller = new ScrollViewSP(list, this);
+  subPanelLayout->addWidget(speedLimitScroller);
+  addWidget(subPanelFrame);
+  addWidget(speedLimitPolicyScreen);
+  setCurrentWidget(subPanelFrame);
+}
+
+void SpeedLimitSettings::refresh() {
+  bool is_release = params.getBool("IsReleaseSpBranch");
+  bool is_metric_param = params.getBool("IsMetric");
+  SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
+  SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
+  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
+
+  bool sla_available;
+  auto cp_bytes = params.get("CarParamsPersistent");
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
+
+    bool has_longitudinal_control = hasLongitudinalControl(CP);
+    bool has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
+
+    /*
+     * Speed Limit Assist is available when:
+     * - has_longitudinal_control or has_icbm, and
+     * - is not a release branch or not a disallowed brand, and
+     * - is not always disallowed
+     */
+    bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
+    bool sla_always_disallow = CP.getBrand() == "rivian";
+    sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release && !sla_always_disallow;
+
+    if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
+      params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
+    }
+  } else {
+    sla_available = false;
+  }
+
+  speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
+  speed_limit_offset->setDescription(offsetDescription(offset_type_param));
+
+  if (offset_type_param == SpeedLimitOffsetType::PERCENT) {
+    offsetLabel += "%";
+  } else if (offset_type_param == SpeedLimitOffsetType::FIXED) {
+    offsetLabel += QString(" %1").arg(is_metric_param ? "km/h" : "mph");
+  }
+
+  if (offset_type_param == SpeedLimitOffsetType::NONE) {
+    speed_limit_offset->setVisible(false);
+  } else {
+    speed_limit_offset->setVisible(true);
+    speed_limit_offset->setLabel(offsetLabel);
+    speed_limit_offset->showDescription();
+  }
+
+  if (sla_available) {
+    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
+  } else {
+    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
+      {SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
+  }
+
+  speed_limit_mode_settings->refresh();
+  speed_limit_mode_settings->showDescription();
+  speed_limit_offset->showDescription();
+}
+
+void SpeedLimitSettings::showEvent(QShowEvent *event) {
+  refresh();
+}
+
+void SpeedLimitSettings::hideEvent(QHideEvent *event) {
+  setCurrentWidget(subPanelFrame);
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h

@@ -0,0 +1,98 @@
+/*
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class SpeedLimitSettings : public QStackedWidget {
+  Q_OBJECT
+
+public:
+  SpeedLimitSettings(QWidget *parent = nullptr);
+  void refresh();
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ScrollViewSP *speedLimitScroller;
+  QFrame *subPanelFrame;
+  ButtonParamControlSP *speed_limit_mode_settings;
+  PushButtonSP *speedLimitSource;
+  SpeedLimitPolicy *speedLimitPolicyScreen;
+  ButtonParamControlSP *speed_limit_offset_settings;
+  OptionControlSP *speed_limit_offset;
+  bool icbm_available = false;
+
+  static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
+    QString none_str = tr("⦿ None: No Offset");
+    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
+    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
+
+    if (type == SpeedLimitOffsetType::FIXED) {
+      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
+    } else if (type == SpeedLimitOffsetType::PERCENT) {
+      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
+    } else {
+      none_str = "<font color='white'><b>" + none_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3")
+        .arg(none_str)
+        .arg(fixed_str)
+        .arg(percent_str);
+  }
+
+  static QString modeDescription(SpeedLimitMode mode = SpeedLimitMode::OFF) {
+    QString off_str = tr("⦿ Off: Disables the Speed Limit functions.");
+    QString info_str = tr("⦿ Information: Displays the current road's speed limit.");
+    QString warning_str = tr("⦿ Warning: Provides a warning when exceeding the current road's speed limit.");
+    QString assist_str = tr("⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons.");
+
+    if (mode == SpeedLimitMode::ASSIST) {
+      assist_str = "<font color='white'><b>" + assist_str + "</b></font>";
+    } else if (mode == SpeedLimitMode::WARNING) {
+      warning_str = "<font color='white'><b>" + warning_str + "</b></font>";
+    } else if (mode == SpeedLimitMode::INFORMATION) {
+      info_str = "<font color='white'><b>" + info_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br>%3<br>%4")
+        .arg(off_str)
+        .arg(info_str)
+        .arg(warning_str)
+        .arg(assist_str);
+  }
+
+  static std::vector<SpeedLimitMode> getSpeedLimitModeValues() {
+    std::vector<SpeedLimitMode> values;
+    for (int i = static_cast<int>(SpeedLimitMode::OFF);
+         i <= static_cast<int>(SpeedLimitMode::ASSIST); ++i) {
+      values.push_back(static_cast<SpeedLimitMode>(i));
+    }
+    return values;
+  }
+
+  static std::vector<int> convertSpeedLimitModeValues(const std::vector<SpeedLimitMode> &modes) {
+    std::vector<int> values;
+    for (const auto& mode : modes) {
+      values.push_back(static_cast<int>(mode));
+    }
+    return values;
+  }
+};

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

@@ -7,7 +7,24 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+  setStyleSheet(R"(
+    #back_btn {
+      font-size: 50px;
+      margin: 0px;
+      padding: 15px;
+      border-width: 0;
+      border-radius: 30px;
+      color: #dddddd;
+      background-color: #393939;
+    }
+    #back_btn:pressed {
+      background-color:  #4a4a4a;
+    }
+  )");
+
   main_layout = new QStackedLayout(this);
   ListWidget *list = new ListWidget(this, false);
 
@@ -21,13 +38,24 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   intelligentCruiseButtonManagement = new ParamControlSP(
     "IntelligentCruiseButtonManagement",
     tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
-    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
+    "",
     "",
     this
   );
-  intelligentCruiseButtonManagement->setConfirmation(true, false);
+  QObject::connect(intelligentCruiseButtonManagement, &ParamControlSP::toggleFlipped, this, [=](bool) {
+    refresh(offroad);
+  });
   list->addItem(intelligentCruiseButtonManagement);
 
+  dynamicExperimentalControl = new ParamControlSP(
+    "DynamicExperimentalControl",
+    tr("Dynamic Experimental Control (DEC)"),
+    tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+    "",
+    this
+  );
+  list->addItem(dynamicExperimentalControl);
+
   SmartCruiseControlVision = new ParamControl(
     "SmartCruiseControlVision",
     tr("Smart Cruise Control - Vision"),
@@ -35,12 +63,33 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
     "");
   list->addItem(SmartCruiseControlVision);
 
+  SmartCruiseControlMap = new ParamControl(
+    "SmartCruiseControlMap",
+    tr("Smart Cruise Control - Map"),
+    tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
+    "");
+  list->addItem(SmartCruiseControlMap);
+
   customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this);
   list->addItem(customAccIncrement);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
 
+  speedLimitSettings = new PushButtonSP(tr("Speed Limit"), 750, this);
+  connect(speedLimitSettings, &QPushButton::clicked, [&]() {
+    cruisePanelScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(speedLimitScreen);
+  });
+  list->addItem(speedLimitSettings);
+
+  speedLimitScreen = new SpeedLimitSettings(this);
+  connect(speedLimitScreen, &SpeedLimitSettings::backPress, [=]() {
+    cruisePanelScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(cruisePanelScreen);
+  });
+
   main_layout->addWidget(cruisePanelScreen);
+  main_layout->addWidget(speedLimitScreen);
   main_layout->setCurrentWidget(cruisePanelScreen);
   refresh(offroad);
 }
@@ -50,7 +99,13 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
   refresh(offroad);
 }
 
+void LongitudinalPanel::hideEvent(QHideEvent *event) {
+  main_layout->setCurrentWidget(cruisePanelScreen);
+}
+
 void LongitudinalPanel::refresh(bool _offroad) {
+  const QString icbm_description = tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.");
+
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -63,15 +118,61 @@ void LongitudinalPanel::refresh(bool _offroad) {
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
+
+    if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
+      intelligentCruiseButtonManagement->setEnabled(offroad);
+      intelligentCruiseButtonManagement->setDescription(icbm_description);
+    } else {
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->setEnabled(false);
+
+      const QString icbm_unavaialble = tr("Intelligent Cruise Button Management is currently unavailable on this platform.");
+
+      QString long_desc = icbm_unavaialble;
+      if (has_longitudinal_control) {
+        if (CP.getAlphaLongitudinalAvailable()) {
+          long_desc = icbm_unavaialble + " " + tr("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
+        } else {
+          long_desc = icbm_unavaialble + " " + tr("sunnypilot Longitudinal Control is the default longitudinal control for this platform.");
+        }
+      }
+
+      intelligentCruiseButtonManagement->setDescription("<b>" + long_desc + "</b><br><br>" + icbm_description);
+      intelligentCruiseButtonManagement->showDescription();
+    }
+
+    if (has_longitudinal_control || has_icbm) {
+      // enable Custom ACC Increments when long is available and is not PCM cruise
+      customAccIncrement->setEnabled(((has_longitudinal_control && !is_pcm_cruise) || has_icbm) && offroad);
+      dynamicExperimentalControl->setEnabled(has_longitudinal_control);
+      SmartCruiseControlVision->setEnabled(true);
+      SmartCruiseControlMap->setEnabled(true);
+    } else {
+      params.remove("CustomAccIncrementsEnabled");
+      params.remove("DynamicExperimentalControl");
+      params.remove("SmartCruiseControlVision");
+      params.remove("SmartCruiseControlMap");
+      customAccIncrement->setEnabled(false);
+      dynamicExperimentalControl->setEnabled(false);
+      SmartCruiseControlVision->setEnabled(false);
+      SmartCruiseControlMap->setEnabled(false);
+    }
+
+    intelligentCruiseButtonManagement->refresh();
+    customAccIncrement->refresh();
+    dynamicExperimentalControl->refresh();
+    SmartCruiseControlVision->refresh();
+    SmartCruiseControlMap->refresh();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
+    has_icbm = false;
+    intelligentCruiseButtonManagement->setDescription("<b>" + tr("Start the vehicle to check vehicle compatibility.") + "</br><b><b>" + icbm_description);
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
-  QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
+  QString accNoLongDescription = tr("This feature can only be used with sunnypilot longitudinal control enabled.");
   QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
   QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");
 
@@ -79,32 +180,19 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
-      if (is_pcm_cruise) {
+    if (has_longitudinal_control || has_icbm) {
+      if (has_longitudinal_control && is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
       } else {
         customAccIncrement->setDescription(accEnabledDescription);
       }
     } else {
-      params.remove("CustomAccIncrementsEnabled");
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
-      params.remove("IntelligentCruiseButtonManagement");
-      intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
 
-  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
-  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
-
-  // enable toggle when long is available and is not PCM cruise
-  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
-  customAccIncrement->setEnabled(cai_allowed && !offroad);
-  customAccIncrement->refresh();
-
-  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
-
   offroad = _offroad;
 }

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

@@ -8,6 +8,7 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
@@ -17,13 +18,14 @@ class LongitudinalPanel : public QWidget {
 public:
   explicit LongitudinalPanel(QWidget *parent = nullptr);
   void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
   void refresh(bool _offroad);
 
 private:
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
+  bool has_icbm = false;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
@@ -31,5 +33,9 @@ private:
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
   ParamControl *SmartCruiseControlVision;
+  ParamControl *SmartCruiseControlMap;
   ParamControl *intelligentCruiseButtonManagement = nullptr;
+  ParamControl *dynamicExperimentalControl = nullptr;
+  SpeedLimitSettings *speedLimitScreen;
+  PushButtonSP *speedLimitSettings;
 };

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

@@ -12,6 +12,7 @@
 #include <string>
 
 #include "common/swaglog.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) {
@@ -91,24 +92,30 @@ ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) {
       locationTitles.push_back(std::get<0>(loc));
     }
 
-    const QString selection = MultiOptionDialog::getSelection(tr("Country"), locationTitles, currentTitle, this);
-    if (!selection.isEmpty()) {
-      params.put("OsmLocal", "1");
-      params.put("OsmLocationTitle", selection.toStdString());
-      for (auto &loc: locations) {
-        if (std::get<0>(loc) == selection) {
-          params.put("OsmLocationName", std::get<1>(loc).toStdString());
-          break;
+    InputDialog d(tr("Search Country"), this, tr("Enter search keywords, or leave blank to list all countries."), false);
+    d.setMinLength(0);
+    const int ret = d.exec();
+    if (ret) {
+      const QString selection = search(d.text(), locationTitles, tr("Select Country"));
+      if (!selection.isEmpty()) {
+        params.put("OsmLocal", "1");
+        params.put("OsmLocationTitle", selection.toStdString());
+        for (auto &loc: locations) {
+          if (std::get<0>(loc) == selection) {
+            params.put("OsmLocationName", std::get<1>(loc).toStdString());
+            break;
+          }
         }
-      }
-      if (params.get("OsmLocationName") == "US") {
-        usStatesBtn->click();
-        return;
-      } else if (selection != "== None ==") {
-        if (showConfirmationDialog(parent)) {
-          osm_download_in_progress = true;
-          params.putBool("OsmDbUpdatesCheck", true);
-          updateLabels();
+        if (params.get("OsmLocationName") == "US") {
+          usStatesBtn->click();
+          return;
+        }
+        if (selection != "== None ==") {
+          if (showConfirmationDialog(parent)) {
+            osm_download_in_progress = true;
+            params.putBool("OsmDbUpdatesCheck", true);
+            updateLabels();
+          }
         }
       }
     }
@@ -135,20 +142,25 @@ ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) {
       locationTitles.push_back(std::get<0>(loc));
     }
 
-    const QString selection = MultiOptionDialog::getSelection(tr("State"), locationTitles, currentTitle, this);
-    if (!selection.isEmpty()) {
-      params.put("OsmStateTitle", selection.toStdString());
-      for (auto &loc: locations) {
-        if (std::get<0>(loc) == selection) {
-          params.put("OsmStateName", std::get<1>(loc).toStdString());
-          break;
+    InputDialog d(tr("Search State"), this, tr("Enter search keywords, or leave blank to list all states."), false);
+    d.setMinLength(0);
+    const int ret = d.exec();
+    if (ret) {
+      const QString selection = search(d.text(), locationTitles, tr("Select State"));
+      if (!selection.isEmpty()) {
+        params.put("OsmStateTitle", selection.toStdString());
+        for (auto &loc: locations) {
+          if (std::get<0>(loc) == selection) {
+            params.put("OsmStateName", std::get<1>(loc).toStdString());
+            break;
+          }
+        }
+        usStatesBtn->setValue(selection);
+        if (showConfirmationDialog(parent)) {
+          osm_download_in_progress = true;
+          params.putBool("OsmDbUpdatesCheck", true);
+          updateLabels();
         }
-      }
-      usStatesBtn->setValue(selection);
-      if (showConfirmationDialog(parent)) {
-        osm_download_in_progress = true;
-        params.putBool("OsmDbUpdatesCheck", true);
-        updateLabels();
       }
     }
     updateLabels();
@@ -281,3 +293,15 @@ void OsmPanel::updateMapSize() {
     mapSizeFuture = QtConcurrent::run(getDirSize, MAP_PATH);
   }
 }
+
+QString OsmPanel::search(const QString &query, const QStringList &list, const QString &prompt_text) {
+  QStringList lst_results = searchFromList(query, list);
+  QString selection;
+
+  if (lst_results.isEmpty()) {
+    ConfirmationDialog::alert(tr("No results found for keywords: %1").arg(query), this);
+    return selection;
+  }
+  selection = MultiOptionDialog::getSelection(prompt_text, lst_results, "", this);
+  return selection;
+}

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

@@ -76,6 +76,7 @@ private:
   void updateDownloadProgress();
   static int extractIntFromJson(const QJsonObject &json, const QString &key);
   QString processUpdateStatus(bool pending_update_check, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state);
+  QString search(const QString &query, const QStringList &list, const QString &prompt_text);
 
   ConfirmationDialog *confirmationDialog;
   LabelControlSP *mapdVersion;

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

@@ -13,6 +13,7 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/developer_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
@@ -87,6 +88,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
     PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
     PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
+    PanelInfo("   " + tr("Display"), new DisplayPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
     PanelInfo("   " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),

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

@@ -21,7 +21,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
     paramsRefresh(param_name, param_value);
   });
 
-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
   connect(uiStateSP(), &UIStateSP::sunnylinkRolesChanged, this, &SunnylinkPanel::updatePanel);
   connect(uiStateSP(), &UIStateSP::sunnylinkDeviceUsersChanged, this, &SunnylinkPanel::updatePanel);
   connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
@@ -272,7 +272,7 @@ void SunnylinkPanel::updatePanel() {
   const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A"));
   sunnylinkEnabledBtn->setEnabled(!is_onroad);
 
-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
+  is_sunnylink_enabled = params.getBool("SunnylinkEnabled");
   bool is_sub = uiStateSP()->isSunnylinkSponsor() && is_sunnylink_enabled;
   auto max_current_sponsor_rule = uiStateSP()->sunnylinkSponsorRole();
   auto role_name = max_current_sponsor_rule.getSponsorTierString();

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h

@@ -33,7 +33,7 @@ private:
 
   static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
     if (!_has_longitudinal_control) {
-      return tr("This feature can only be used with openpilot longitudinal control enabled.");
+      return tr("This feature can only be used with sunnypilot longitudinal control enabled.");
     }
 
     if (!_offroad) {
@@ -57,7 +57,7 @@ private:
     }
 
     return QString("%1<br><br>%2<br>%3<br>%4<br>")
-             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
+             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with sunnypilot longitudinal control."))
              .arg(off_str)
              .arg(dynamic_str)
              .arg(predictive_str);

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc

@@ -8,7 +8,52 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
 
 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  stopAndGoToggle = new ParamControl("SubaruStopAndGo", tr("Stop and Go (Beta)"), "", "");
+  stopAndGoToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoToggle);
+
+  stopAndGoManualParkingBrakeToggle = new ParamControl(
+    "SubaruStopAndGoManualParkingBrake",
+    tr("Stop and Go for Manual Parking Brake (Beta)"),
+    "",
+    ""
+  );
+  stopAndGoManualParkingBrakeToggle->setConfirmation(true, false);
+  list->addItem(stopAndGoManualParkingBrakeToggle);
 }
 
 void SubaruSettings::updateSettings() {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    is_subaru = CP.getBrand() == "subaru";
+
+    if (is_subaru) {
+      if (!(CP.getFlags() & (SUBARU_FLAG_GLOBAL_GEN2 | SUBARU_FLAG_HYBRID))) {
+        has_stop_and_go = true;
+      }
+    }
+  } else {
+    is_subaru = false;
+    has_stop_and_go = false;
+  }
+
+  bool stop_and_go_disabled = !offroad || !has_stop_and_go;
+  QString stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc);
+  QString stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc);
+  if (stop_and_go_disabled) {
+    stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc, stopAndGoDisabledMsg());
+    stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc, stopAndGoDisabledMsg());
+  }
+
+  stopAndGoToggle->setEnabled(has_stop_and_go);
+  stopAndGoToggle->setDescription(stop_and_go_desc);
+  stopAndGoToggle->showDescription();
+
+  stopAndGoManualParkingBrakeToggle->setEnabled(has_stop_and_go);
+  stopAndGoManualParkingBrakeToggle->setDescription(stop_and_go_manual_parking_brake_desc);
+  stopAndGoManualParkingBrakeToggle->showDescription();
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h

@@ -14,6 +14,9 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+const int SUBARU_FLAG_GLOBAL_GEN2 = 4;
+const int SUBARU_FLAG_HYBRID = 32;
+
 class SubaruSettings : public BrandSettingsInterface {
   Q_OBJECT
 
@@ -23,4 +26,32 @@ public:
 
 private:
   bool offroad = false;
+  bool is_subaru;
+  bool has_stop_and_go;
+
+  ParamControl* stopAndGoToggle;
+  ParamControl* stopAndGoManualParkingBrakeToggle;
+
+  QString stopAndGoDesc = tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms.");
+  QString stopAndGoManualParkingBrakeDesc = tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!");
+
+  QString stopAndGoDisabledMsg() const {
+    if (is_subaru && !has_stop_and_go) {
+      return tr("This feature is currently not available on this platform.");
+    }
+
+    if (!is_subaru) {
+      return tr("Start the car to check car compatibility.");
+    }
+
+    if (!offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.");
+    }
+
+    return QString();
+  }
+
+  static QString stopAndGoDescriptionBuilder(const QString &base_description, const QString &custom_description = "") {
+    return "<b>" + custom_description + "</b><br><br>" + base_description;
+  }
 };

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

@@ -25,21 +25,69 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "BlindSpot",
       tr("Show Blind Spot Warnings"),
       tr("Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."),
-      "../assets/offroad/icon_monitoring.png",
+      "",
       false,
     },
     {
       "RainbowMode",
       tr("Enable Tesla Rainbow Mode"),
       RainbowizeWords(tr("A beautiful rainbow effect on the path the model wants to take.")) + "<br/><i>" + tr("It")+ " <b>" + tr("does not") + "</b> " + tr("affect driving in any way.") + "</i>",
-      "../assets/offroad/icon_monitoring.png",
+      "",
       false,
     },
     {
       "StandstillTimer",
       tr("Enable Standstill Timer"),
       tr("Show a timer on the HUD when the car is at a standstill."),
-      "../assets/offroad/icon_monitoring.png",
+      "",
+      false,
+    },
+    {
+      "RoadNameToggle",
+      tr("Display Road Name"),
+      tr("Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name."),
+      "",
+      false,
+    },
+    {
+      "GreenLightAlert",
+      tr("Green Traffic Light Alert (Beta)"),
+      QString("%1<br>"
+        "<h4>%2</h4><br>")
+        .arg(tr("A chime and on-screen alert will play when the traffic light you are waiting for turns green and you have no vehicle in front of you."))
+        .arg(tr("Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly.")),
+      "",
+      false,
+    },
+    {
+      "LeadDepartAlert",
+      tr("Lead Departure Alert (Beta)"),
+      QString("%1<br>"
+        "<h4>%2</h4><br>")
+        .arg(tr("A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving."))
+        .arg(tr("Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly.")),
+      "",
+      false,
+    },
+    {
+      "TrueVEgoUI",
+      tr("Speedometer: Always Display True Speed"),
+      tr("Always display the true vehicle current speed from wheel speed sensors."),
+      "",
+      false,
+    },
+    {
+      "HideVEgoUI",
+      tr("Speedometer: Hide from Onroad Screen"),
+      tr("When enabled, the speedometer on the onroad screen is not displayed."),
+      "",
+      false,
+    },
+    {
+      "ShowTurnSignals",
+      tr("Display Turn Signals"),
+      tr("When enabled, visual turn indicators are drawn on the HUD."),
+      "",
       false,
     },
   };
@@ -71,7 +119,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   // 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(
-    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
+    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control)."),
     "",
     chevron_info_settings_texts,
     200);
@@ -92,6 +140,40 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   vlayout->addWidget(sunnypilotScroller);
 
   main_layout->addWidget(sunnypilotScreen);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &VisualsPanel::refreshLongitudinalStatus);
+
+  refreshLongitudinalStatus();
+}
+
+void VisualsPanel::refreshLongitudinalStatus() {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+  } else {
+    has_longitudinal_control = false;
+  }
+
+  if (chevron_info_settings) {
+    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control).");
+    QString chevronNoLongDescription = tr("This feature requires sunnypilot longitudinal control to be available.");
+
+    if (has_longitudinal_control) {
+      chevron_info_settings->setDescription(chevronEnabledDescription);
+    } else {
+      // Reset to "Off" when longitudinal not available
+      params.put("ChevronInfo", "0");
+      chevron_info_settings->setDescription(chevronNoLongDescription);
+    }
+
+    // Enable only when longitudinal is available
+    chevron_info_settings->setEnabled(has_longitudinal_control);
+    chevron_info_settings->refresh();
+  }
 }
 
 void VisualsPanel::paramsRefresh() {

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

@@ -19,6 +19,7 @@ public:
  explicit VisualsPanel(QWidget *parent = nullptr);
 
  void paramsRefresh();
+ void refreshLongitudinalStatus();
 
 protected:
  QStackedLayout* main_layout = nullptr;
@@ -29,4 +30,6 @@ protected:
  ParamWatcher * param_watcher;
  ButtonParamControlSP *chevron_info_settings;
  ButtonParamControlSP *dev_ui_settings;
+
+ bool has_longitudinal_control = false;
 };

selfdrive/ui/sunnypilot/qt/onroad/alerts.cc

@@ -0,0 +1,102 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/onroad/alerts.h"
+
+#include <QPainter>
+#include <map>
+#include <QRect>
+#include <QFont>
+
+OnroadAlerts::Alert OnroadAlertsSP::getAlert(const SubMaster &sm, uint64_t started_frame) {
+  OnroadAlerts::Alert alert = OnroadAlerts::getAlert(sm, started_frame);
+  alert.text1.replace("openpilot", "sunnypilot");
+  alert.text2.replace("openpilot", "sunnypilot");
+  return alert;
+}
+
+void OnroadAlertsSP::paintEvent(QPaintEvent *event) {
+  if (alert.size == cereal::SelfdriveState::AlertSize::NONE) {
+    return;
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::FULL) {
+    OnroadAlerts::paintEvent(event);
+    return;
+  }
+  static std::map<cereal::SelfdriveState::AlertSize, const int> alert_heights = {
+    {cereal::SelfdriveState::AlertSize::SMALL, 271},
+    {cereal::SelfdriveState::AlertSize::MID, 420}
+  };
+  int h = alert_heights[alert.size];
+
+  QPainter p(this);
+  QFont topFont;
+  QFont bottomFont;
+  QRect topTextBoundingRect;
+  QRect bottomTextBoundingRect;
+  QRect rect;
+
+  int margin = 40;
+  int radius = 30;
+
+  const int dev_ui_info = uiStateSP()->scene.dev_ui_info;
+  const int v_adjustment = dev_ui_info > 1 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 40 : 0;
+  const int h_adjustment = dev_ui_info > 0 && alert.size != cereal::SelfdriveState::AlertSize::FULL ? 230 : 0;
+
+  if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) {
+    topFont = InterFont(74, QFont::DemiBold);
+    QFontMetrics fmTop(topFont);
+    topTextBoundingRect = fmTop.boundingRect(
+      QRect(0 + margin, height() - h + margin - v_adjustment, width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap,
+      alert.text1);
+    h = topTextBoundingRect.height();
+    rect = QRect(0 + margin, height() - h - margin * 2 - v_adjustment, width() - margin * 2 - h_adjustment, h + margin);
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) {
+    topFont = InterFont(88, QFont::Bold);
+    bottomFont = InterFont(66);
+    QFontMetrics fmTop(topFont);
+    QFontMetrics fmBotton(bottomFont);
+    topTextBoundingRect = fmTop.boundingRect(
+      QRect(0 + margin, height() - h + margin - v_adjustment, width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap,
+      alert.text1);
+    bottomTextBoundingRect = fmBotton.boundingRect(
+      QRect(0 + margin, height() - h + margin - v_adjustment + topTextBoundingRect.height(),
+            width() - margin * 2 - h_adjustment, 0), Qt::TextWordWrap, alert.text2);
+    h = topTextBoundingRect.height() + bottomTextBoundingRect.height() + margin * 2;
+    rect = QRect(0 + margin, height() - h - margin * 2 - v_adjustment, width() - margin * 2 - h_adjustment, h + margin);
+  }
+
+
+  // draw background + gradient
+  // draw background + gradient
+  p.setPen(Qt::NoPen);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+  p.setBrush(QBrush(alert_colors[alert.status]));
+  p.drawRoundedRect(rect, radius, radius);
+
+  QLinearGradient g(0, rect.y(), 0, rect.bottom());
+  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
+  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
+
+  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
+  p.setBrush(QBrush(g));
+  p.drawRoundedRect(rect, radius, radius);
+  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
+
+  // text
+  p.setPen(QColor(0xff, 0xff, 0xff));
+  p.setRenderHint(QPainter::TextAntialiasing);
+  p.setFont(topFont);
+  if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) {
+    p.drawText(rect, Qt::AlignCenter | Qt::TextWordWrap, alert.text1);
+  } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) {
+    QRect topText = QRect(rect.x(), rect.top() + margin, rect.width(), topTextBoundingRect.height());
+    p.drawText(topText, Qt::AlignHCenter | Qt::AlignTop | Qt::TextWordWrap | Qt::AlignCenter, alert.text1);
+    p.setFont(bottomFont);
+    p.drawText(QRect(rect.x(), topText.bottom() + margin, rect.width(), bottomTextBoundingRect.height()),
+               Qt::AlignHCenter | Qt::TextWordWrap | Qt::AlignCenter, alert.text2);
+  }
+}

selfdrive/ui/sunnypilot/qt/onroad/alerts.h

@@ -0,0 +1,22 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/alerts.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+
+class OnroadAlertsSP : public OnroadAlerts {
+  Q_OBJECT
+
+public:
+  OnroadAlertsSP(QWidget *parent = 0) : OnroadAlerts(parent) {}
+
+protected:
+  void paintEvent(QPaintEvent *) override;
+  Alert getAlert(const SubMaster &sm, uint64_t started_frame);
+};

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc

@@ -18,4 +18,10 @@ void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
 void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
   AnnotatedCameraWidget::showEvent(event);
   ui_update_params_sp(uiState());
+  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::RESUME);
+}
+
+void AnnotatedCameraWidgetSP::hideEvent(QHideEvent *event) {
+  AnnotatedCameraWidget::hideEvent(event);
+  uiStateSP()->reset_onroad_sleep_timer(OnroadTimerStatusToggle::PAUSE);
 }

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h

@@ -18,4 +18,5 @@ public:
 
 protected:
   void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent* event) override;
 };

selfdrive/ui/sunnypilot/qt/onroad/hud.cc

@@ -11,26 +11,82 @@
 #include "selfdrive/ui/qt/util.h"
 
 
-HudRendererSP::HudRendererSP() {}
+HudRendererSP::HudRendererSP() {
+  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {90, 90});
+  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {90, 90});
+
+  int size = e2e_alert_size * 2 - 40;
+  green_light_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {size, size});
+  lead_depart_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {size, size});
+}
 
 void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
 
+  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
+  devUiInfo = s.scene.dev_ui_info;
+  roadName = s.scene.road_name;
+  showTurnSignals = s.scene.turn_signals;
+  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
+  standstillTimer = s.scene.standstill_timer;
+
   const SubMaster &sm = *(s.sm);
-  const bool cs_alive = sm.alive("controlsState");
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
   const auto car_control = sm["carControl"].getCarControl();
   const auto radar_state = sm["radarState"].getRadarState();
   const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
+  const char *gps_source = is_gps_location_external ? "gpsLocationExternal" : "gpsLocation";
+  const auto gpsLocation = is_gps_location_external ? sm[gps_source].getGpsLocationExternal() : sm[gps_source].getGpsLocation();
   const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
   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();
+  }
+
+  if (sm.updated("carParamsSP")) {
+    pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
+  }
+
+  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();
+
+  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--;
+    }
+  }
+  speedLimitAheadDistancePrev = speedLimitAheadDistance;
 
   static int reverse_delay = 0;
   bool reverse_allowed = false;
-  if (int(car_state.getGearShifter()) != 4) {
+  if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
     reverse_delay = 0;
     reverse_allowed = false;
   } else {
@@ -41,68 +97,106 @@ void HudRendererSP::updateState(const UIState &s) {
   }
 
   reversing = reverse_allowed;
-  is_metric = s.scene.is_metric;
 
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
+  if (sm.updated("liveParameters")) {
+    roll = sm["liveParameters"].getLiveParameters().getRoll();
+  }
+
+  if (sm.updated("deviceState")) {
+    memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  }
+
+  if (sm.updated(gps_source)) {
+    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+    altitude = gpsLocation.getAltitude();
+    bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+    bearingDeg = gpsLocation.getBearingDeg();
+  }
+
+  if (sm.updated("liveTorqueParameters")) {
+    torquedUseParams = ltp.getUseParams();
+    latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+    frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+    liveValid = ltp.getLiveValid();
+  }
 
   latActive = car_control.getLatActive();
+  actuators = car_control.getActuators();
+  longOverride = car_control.getCruiseControl().getOverride();
+  carControlEnabled = car_control.getEnabled();
+
   steerOverride = car_state.getSteeringPressed();
-
-  devUiInfo = s.scene.dev_ui_info;
-
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
   lead_d_rel = radar_state.getLeadOne().getDRel();
   lead_v_rel = radar_state.getLeadOne().getVRel();
   lead_status = radar_state.getLeadOne().getStatus();
-  steerControlType = car_params.getSteerControlType();
-  actuators = car_control.getActuators();
   torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
   angleSteers = car_state.getSteeringAngleDeg();
   desiredCurvature = cs.getDesiredCurvature();
   curvature = cs.getCurvature();
-  roll = sm["liveParameters"].getLiveParameters().getRoll();
-  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-  altitude = gpsLocation.getAltitude();
   vEgo = car_state.getVEgo();
   aEgo = car_state.getAEgo();
   steeringTorqueEps = car_state.getSteeringTorqueEps();
-  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-  bearingDeg = gpsLocation.getBearingDeg();
-  torquedUseParams = ltp.getUseParams();
-  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-  liveValid = ltp.getLiveValid();
 
-  standstillTimer = s.scene.standstill_timer;
   isStandstill = car_state.getStandstill();
-  longOverride = car_control.getCruiseControl().getOverride();
-  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
-  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+  if (!s.scene.started) standstillElapsedTime = 0.0;
+
+  // override stock current speed values
+  float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
+  hideVEgoUI = s.scene.hideVEgoUI;
+
+  leftBlinkerOn = car_state.getLeftBlinker();
+  rightBlinkerOn = car_state.getRightBlinker();
+  leftBlindspot = car_state.getLeftBlindspot();
+  rightBlindspot = car_state.getRightBlindspot();
+
+  speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
+
+  allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
+                     sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
   HudRenderer::draw(p, surface_rect);
+
+  e2eAlertDisplayTimer = std::max(0, e2eAlertDisplayTimer - 1);
+
+  p.save();
+
+  if (is_cruise_available) {
+    drawSetSpeedSP(p, surface_rect);
+  }
+
+  if (!hideVEgoUI) {
+    drawCurrentSpeedSP(p, surface_rect);
+  }
+
   if (!reversing) {
     // Smart Cruise Control
     int x_offset = -260;
     int y1_offset = -80;
-    // int y2_offset = -140;  // reserved for 2 icons
+    int y2_offset = -140;
 
+    int y_scc_v = 0, y_scc_m = 0;
+    const int orders[2] = {y1_offset, y2_offset};
+    int i = 0;
+    // SCC-V takes first order
+    if (smartCruiseControlVisionEnabled) y_scc_v = orders[i++];
+    if (smartCruiseControlMapEnabled) y_scc_m = orders[i++];
+
+    // Smart Cruise Control - Vision
     bool scc_vision_active_pulse = pulseElement(smartCruiseControlVisionFrame);
     if ((smartCruiseControlVisionEnabled && !smartCruiseControlVisionActive) || (smartCruiseControlVisionActive && scc_vision_active_pulse)) {
-      drawSmartCruiseControlOnroadIcon(p, surface_rect, x_offset, y1_offset, "SCC-V");
+      drawSmartCruiseControlOnroadIcon(p, surface_rect, x_offset, y_scc_v, "SCC-V");
     }
+    smartCruiseControlVisionFrame = smartCruiseControlVisionActive ? (smartCruiseControlVisionFrame + 1) : 0;
 
-    if (smartCruiseControlVisionActive) {
-      smartCruiseControlVisionFrame++;
-    } else {
-      smartCruiseControlVisionFrame = 0;
+    // Smart Cruise Control - Map
+    bool scc_map_active_pulse = pulseElement(smartCruiseControlMapFrame);
+    if ((smartCruiseControlMapEnabled && !smartCruiseControlMapActive) || (smartCruiseControlMapActive && scc_map_active_pulse)) {
+      drawSmartCruiseControlOnroadIcon(p, surface_rect, x_offset, y_scc_m, "SCC-M");
     }
+    smartCruiseControlMapFrame = smartCruiseControlMapActive ? (smartCruiseControlMapFrame + 1) : 0;
 
     // Bottom Dev UI
     if (devUiInfo == 2) {
@@ -119,11 +213,81 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
       drawRightDevUI(p, surface_rect.right() - 184 - UI_BORDER_SIZE * 2, UI_BORDER_SIZE * 2 + rect_right.height());
     }
 
+    // Speed Limit
+    bool showSpeedLimit;
+    bool speed_limit_assist_pre_active_pulse = pulseElement(speedLimitAssistFrame);
+
+    // Position speed limit sign next to set speed box
+    const int sign_width = is_metric ? 200 : 172;
+    const int sign_x = is_metric ? 280 : 272;
+    const int sign_y = 45;
+    const int sign_height = 204;
+    QRect sign_rect(sign_x, sign_y, sign_width, sign_height);
+
+    if (speedLimitAssistState == cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
+      speedLimitAssistFrame++;
+      showSpeedLimit = speed_limit_assist_pre_active_pulse;
+      drawSpeedLimitPreActiveArrow(p, sign_rect);
+    } else {
+      speedLimitAssistFrame = 0;
+      showSpeedLimit = speedLimitMode != SpeedLimitMode::OFF;
+    }
+
+    if (showSpeedLimit) {
+      drawSpeedLimitSigns(p, sign_rect);
+
+      // do not show during SLA's preActive state
+      if (speedLimitAssistState != cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
+        drawUpcomingSpeedLimit(p);
+      }
+    }
+
+    // Road Name
+    drawRoadName(p, surface_rect);
+
+    // Green Light & Lead Depart Alerts
+    if (greenLightAlert || leadDepartAlert) {
+      e2eAlertDisplayTimer = 3 * UI_FREQ;
+      // reset onroad sleep timer for e2e alerts
+      uiStateSP()->reset_onroad_sleep_timer();
+    }
+
+    if (e2eAlertDisplayTimer > 0) {
+      e2eAlertFrame++;
+      if (greenLightAlert) {
+        alert_text = tr("GREEN\nLIGHT");
+        alert_img = green_light_alert_img;
+      }
+      else if (leadDepartAlert) {
+        alert_text = tr("LEAD VEHICLE\nDEPARTING");
+        alert_img = lead_depart_alert_img;
+      }
+      drawE2eAlert(p, surface_rect);
+    }
     // Standstill Timer
-    if (standstillTimer) {
-      drawStandstillTimer(p, surface_rect.right() / 12 * 10, surface_rect.bottom() / 12 * 1.53);
+    else if (standstillTimer && isStandstill) {
+      alert_img = QPixmap();
+
+      standstillElapsedTime += 1.0 / UI_FREQ;
+      int minute = static_cast<int>(standstillElapsedTime / 60);
+      int second = static_cast<int>(standstillElapsedTime - (minute * 60));
+      alert_text = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
+      drawE2eAlert(p, surface_rect, tr("STOPPED"));
+      e2eAlertFrame++;
+    }
+    // No Alerts displayed
+    else {
+      e2eAlertFrame = 0;
+      if (!isStandstill) standstillElapsedTime = 0.0;
+    }
+
+    // Blinker
+    if (showTurnSignals) {
+      drawBlinker(p, surface_rect);
     }
   }
+
+  p.restore();
 }
 
 void HudRendererSP::drawText(QPainter &p, int x, int y, const QString &text, QColor color) {
@@ -278,36 +442,446 @@ void HudRendererSP::drawBottomDevUI(QPainter &p, int x, int y) {
   rw += drawBottomDevUIElement(p, rw, y, altitudeElement.value, altitudeElement.label, altitudeElement.units, altitudeElement.color);
 }
 
-void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
-  if (isStandstill) {
-    standstillElapsedTime += 1.0 / UI_FREQ;
+void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
+  bool speedLimitWarningEnabled = speedLimitMode >= SpeedLimitMode::WARNING;  // TODO-SP: update to include SpeedLimitMode::ASSIST
+  bool hasSpeedLimit = speedLimitValid || speedLimitLastValid;
+  bool overspeed = hasSpeedLimit && std::nearbyint(speedLimitFinalLast) < std::nearbyint(speed);
+  QString speedLimitStr = hasSpeedLimit ? QString::number(std::nearbyint(speedLimitLast)) : "---";
 
-    int minute = static_cast<int>(standstillElapsedTime / 60);
-    int second = static_cast<int>(standstillElapsedTime - (minute * 60));
+  // Offset display text
+  QString speedLimitSubText = "";
+  if (speedLimitOffset != 0) {
+    speedLimitSubText = (speedLimitOffset > 0 ? "" : "-") + QString::number(std::nearbyint(speedLimitOffset));
+  }
 
-    // stop sign for standstill timer
-    const int size = 190;  // size
-    const float angle = M_PI / 8.0;
+  float speedLimitSubTextFactor = is_metric ? 0.5 : 0.6;
+  if (speedLimitSubText.size() >= 3) {
+    speedLimitSubTextFactor = 0.475;
+  }
 
-    QPolygon octagon;
-    for (int i = 0; i < 8; i++) {
-      float curr_angle = angle + i * M_PI / 4.0;
-      int point_x = x + size / 2 * cos(curr_angle);
-      int point_y = y + size / 2 * sin(curr_angle);
-      octagon << QPoint(point_x, point_y);
+  int alpha = 255;
+  QColor red_color = QColor(255, 0, 0, alpha);
+  QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color :
+                       (!speedLimitValid && speedLimitLastValid ? QColor(0x91, 0x9b, 0x95, 0xf1) : QColor(0, 0, 0, alpha));
+
+  if (is_metric) {
+    // EU Vienna Convention style circular sign
+    QRect vienna_rect = sign_rect;
+    int circle_size = std::min(vienna_rect.width(), vienna_rect.height());
+    QRect circle_rect(vienna_rect.x(), vienna_rect.y(), circle_size, circle_size);
+
+    if (vienna_rect.width() > vienna_rect.height()) {
+      circle_rect.moveLeft(vienna_rect.x() + (vienna_rect.width() - circle_size) / 2);
+    } else if (vienna_rect.height() > vienna_rect.width()) {
+      circle_rect.moveTop(vienna_rect.y() + (vienna_rect.height() - circle_size) / 2);
     }
 
-    p.setPen(QPen(Qt::white, 6));
-    p.setBrush(QColor(255, 90, 81, 200)); // red pastel
-    p.drawPolygon(octagon);
+    // White background circle
+    p.setPen(Qt::NoPen);
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawEllipse(circle_rect);
 
-    QString time_str = QString("%1:%2").arg(minute, 1, 10, QChar('0')).arg(second, 2, 10, QChar('0'));
-    p.setFont(InterFont(55, QFont::Bold));
-    p.setPen(Qt::white);
-    QRect timerTextRect = p.fontMetrics().boundingRect(QString(time_str));
-    timerTextRect.moveCenter({x, y});
-    p.drawText(timerTextRect, Qt::AlignCenter, QString(time_str));
+    // Red border ring with color coding
+    QRect red_ring = circle_rect;
+
+    p.setBrush(red_color);
+    p.drawEllipse(red_ring);
+
+    // Center white circle for text
+    int ring_size = circle_size * 0.12;
+    QRect center_circle = red_ring.adjusted(ring_size, ring_size, -ring_size, -ring_size);
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawEllipse(center_circle);
+
+    // Speed value, smaller font for 3+ digits
+    int font_size = (speedLimitStr.size() >= 3) ? 70 : 85;
+    p.setFont(InterFont(font_size, QFont::Bold));
+
+    p.setPen(speed_color);
+    p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
+
+    // Offset value in small circular box
+    if (!speedLimitSubText.isEmpty() && hasSpeedLimit) {
+      int offset_circle_size = circle_size * 0.4;
+      int overlap = offset_circle_size * 0.25;
+      QRect offset_circle_rect(
+        circle_rect.right() - offset_circle_size/1.25 + overlap,
+        circle_rect.top() - offset_circle_size/1.75 + overlap,
+        offset_circle_size,
+        offset_circle_size
+      );
+
+      p.setPen(QPen(QColor(77, 77, 77, 255), 6));
+      p.setBrush(QColor(0, 0, 0, alpha));
+      p.drawEllipse(offset_circle_rect);
+
+      p.setFont(InterFont(offset_circle_size * speedLimitSubTextFactor, QFont::Bold));
+      p.setPen(QColor(255, 255, 255, alpha));
+      p.drawText(offset_circle_rect, Qt::AlignCenter, speedLimitSubText);
+    }
   } else {
-    standstillElapsedTime = 0.0;
+    // US/Canada MUTCD style sign
+    p.setPen(Qt::NoPen);
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawRoundedRect(sign_rect, 32, 32);
+
+    // Inner border with violation color coding
+    QRect inner_rect = sign_rect.adjusted(10, 10, -10, -10);
+    QColor border_color = QColor(0, 0, 0, alpha);
+
+    p.setPen(QPen(border_color, 4));
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawRoundedRect(inner_rect, 22, 22);
+
+    // "SPEED LIMIT" text
+    p.setFont(InterFont(40, QFont::DemiBold));
+    p.setPen(QColor(0, 0, 0, alpha));
+    p.drawText(inner_rect.adjusted(0, 10, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
+    p.drawText(inner_rect.adjusted(0, 50, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
+
+    // Speed value with color coding
+    p.setFont(InterFont(90, QFont::Bold));
+
+    p.setPen(speed_color);
+    p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
+
+    // Offset value in small box
+    if (!speedLimitSubText.isEmpty() && hasSpeedLimit) {
+      int offset_box_size = sign_rect.width() * 0.4;
+      int overlap = offset_box_size * 0.25;
+      QRect offset_box_rect(
+        sign_rect.right() - offset_box_size/1.5 + overlap,
+        sign_rect.top() - offset_box_size/1.25 + overlap,
+        offset_box_size,
+        offset_box_size
+      );
+
+      int corner_radius = offset_box_size * 0.2;
+      p.setPen(QPen(QColor(77, 77, 77, 255), 6));
+      p.setBrush(QColor(0, 0, 0, alpha));
+      p.drawRoundedRect(offset_box_rect, corner_radius, corner_radius);
+
+      p.setFont(InterFont(offset_box_size * speedLimitSubTextFactor, QFont::Bold));
+      p.setPen(QColor(255, 255, 255, alpha));
+      p.drawText(offset_box_rect, Qt::AlignCenter, speedLimitSubText);
+    }
   }
 }
+
+void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
+                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
+  if (!speed_limit_ahead) {
+    return;
+  }
+
+  auto roundToInterval = [&](float distance, int interval, int threshold) {
+    int base = static_cast<int>(distance / interval) * interval;
+    return (distance - base >= threshold) ? base + interval : base;
+  };
+
+  auto outputDistance = [&] {
+    if (is_metric) {
+      if (speedLimitAheadDistance < 50) return tr("Near");
+      if (speedLimitAheadDistance >= 1000) return QString::number(speedLimitAheadDistance * METER_TO_KM, 'f', 1) + tr("km");
+
+      int rounded = (speedLimitAheadDistance < 200) ? std::max(10, roundToInterval(speedLimitAheadDistance, 10, 5)) : roundToInterval(speedLimitAheadDistance, 100, 50);
+      return QString::number(rounded) + tr("m");
+    } else {
+      float distance_ft = speedLimitAheadDistance * METER_TO_FOOT;
+      if (distance_ft < 100) return tr("Near");
+      if (distance_ft >= 900) return QString::number(speedLimitAheadDistance * METER_TO_MILE, 'f', 1) + tr("mi");
+
+      int rounded = (distance_ft < 500) ? std::max(50, roundToInterval(distance_ft, 50, 25)) : roundToInterval(distance_ft, 100, 50);
+      return QString::number(rounded) + tr("ft");
+    }
+  };
+
+  QString speedStr = QString::number(std::nearbyint(speedLimitAhead));
+  QString distanceStr = outputDistance();
+
+  // Position below current speed limit sign
+  const int sign_width = is_metric ? 200 : 172;
+  const int sign_x = is_metric ? 280 : 272;
+  const int sign_y = 45;
+  const int sign_height = 204;
+
+  const int ahead_width = 170;
+  const int ahead_height = 160;
+  const int ahead_x = sign_x + (sign_width - ahead_width) / 2;
+  const int ahead_y = sign_y + sign_height + 10;
+
+  QRect ahead_rect(ahead_x, ahead_y, ahead_width, ahead_height);
+  p.setPen(QPen(QColor(255, 255, 255, 100), 3));
+  p.setBrush(QColor(0, 0, 0, 180));
+  p.drawRoundedRect(ahead_rect, 16, 16);
+
+  // "AHEAD" label
+  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setPen(QColor(200, 200, 200, 255));
+  p.drawText(ahead_rect.adjusted(0, 4, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("AHEAD"));
+
+  // Speed value
+  p.setFont(InterFont(70, QFont::Bold));
+  p.setPen(QColor(255, 255, 255, 255));
+  p.drawText(ahead_rect.adjusted(0, 38, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedStr);
+
+  // Distance
+  p.setFont(InterFont(40, QFont::Normal));
+  p.setPen(QColor(180, 180, 180, 255));
+  p.drawText(ahead_rect.adjusted(0, 110, 0, 0), Qt::AlignTop | Qt::AlignHCenter, distanceStr);
+}
+
+void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
+  if (!roadName || roadNameStr.isEmpty()) return;
+
+  // Measure text to size container
+  p.setFont(InterFont(46, QFont::DemiBold));
+  QFontMetrics fm(p.font());
+
+  int text_width = fm.horizontalAdvance(roadNameStr);
+  int padding = 40;
+  int rect_width = text_width + padding;
+
+  // Constrain to reasonable bounds
+  int min_width = 200;
+  int max_width = surface_rect.width() - 40;
+  rect_width = std::max(min_width, std::min(rect_width, max_width));
+
+  // Center at top of screen
+  QRect road_rect(surface_rect.width() / 2 - rect_width / 2, -4, rect_width, 60);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(QColor(0, 0, 0, 120));
+  p.drawRoundedRect(road_rect, 12, 12);
+
+  p.setPen(QColor(255, 255, 255, 200));
+
+  // Truncate if still too long
+  QString truncated = fm.elidedText(roadNameStr, Qt::ElideRight, road_rect.width() - 20);
+  p.drawText(road_rect, Qt::AlignCenter, truncated);
+}
+
+void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect) {
+  const int sign_margin = 12;
+  const int arrow_spacing = sign_margin * 1.4;
+  int arrow_x = sign_rect.right() + arrow_spacing;
+
+  int _set_speed = std::nearbyint(set_speed);
+  int _speed_limit_final_last = std::nearbyint(speedLimitFinalLast);
+
+  // Calculate the vertical offset using a sinusoidal function for smooth bouncing
+  double bounce_frequency = 2.0 * M_PI / UI_FREQ;  // 20 frames for one full oscillation
+  int bounce_offset = 20 * sin(speedLimitAssistFrame * bounce_frequency);  // Adjust the amplitude (20 pixels) as needed
+
+  if (_set_speed < _speed_limit_final_last) {
+    QPoint iconPosition(arrow_x, sign_rect.center().y() - plus_arrow_up_img.height() / 2 + bounce_offset);
+    p.drawPixmap(iconPosition, plus_arrow_up_img);
+  } else if (_set_speed > _speed_limit_final_last) {
+    QPoint iconPosition(arrow_x, sign_rect.center().y() - minus_arrow_down_img.height() / 2 - bounce_offset);
+    p.drawPixmap(iconPosition, minus_arrow_down_img);
+  }
+}
+
+void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
+  // Draw outer box + border to contain set speed
+  const QSize default_size = {172, 204};
+  QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
+  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
+
+  // Draw set speed box
+  p.setPen(QPen(QColor(255, 255, 255, 75), 6));
+  p.setBrush(QColor(0, 0, 0, 166));
+  p.drawRoundedRect(set_speed_rect, 32, 32);
+
+  // Colors based on status
+  QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
+  QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
+  if (is_cruise_set) {
+    set_speed_color = QColor(255, 255, 255);
+    if (speedLimitAssistActive) {
+      set_speed_color = longOverride ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0, 0xff, 0, 0xff);
+      max_color = longOverride ? QColor(0x91, 0x9b, 0x95, 0xff) : QColor(0x80, 0xd8, 0xa6, 0xff);
+    } else {
+      if (status == STATUS_DISENGAGED) {
+        max_color = QColor(255, 255, 255);
+      } else if (status == STATUS_OVERRIDE) {
+        max_color = QColor(0x91, 0x9b, 0x95, 0xff);
+      } else {
+        max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
+      }
+    }
+  }
+
+  // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
+  if (!pcmCruiseSpeed && carControlEnabled) {
+    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
+      icbm_active_counter = 3 * UI_FREQ;
+    } else if (icbm_active_counter > 0) {
+      icbm_active_counter--;
+    }
+  } else {
+    icbm_active_counter = 0;
+  }
+  int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
+  int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
+  QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX");
+
+  p.setFont(InterFont(max_str_size, QFont::DemiBold));
+  p.setPen(max_color);
+  p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
+
+  // Draw set speed
+  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
+  p.setFont(InterFont(90, QFont::Bold));
+  p.setPen(set_speed_color);
+  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+}
+
+void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
+  if (!allow_e2e_alerts) return;
+
+  int x = surface_rect.right() - e2e_alert_size - (devUiInfo > 0 ? 180 : 100) - (UI_BORDER_SIZE * 3);
+  int y = surface_rect.center().y() + 20;
+  QRect alertRect(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2);
+
+  // Alert Circle
+  QPoint center = alertRect.center();
+  QColor frameColor;
+  if (!alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
+  else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
+  p.setPen(QPen(frameColor, 15));
+  p.setBrush(QColor(0, 0, 0, 190));
+  p.drawEllipse(center, e2e_alert_size, e2e_alert_size);
+
+  // Alert Text
+  QColor txtColor;
+  QFont font;
+  int alert_bottom_adjustment;
+  if (!alert_alt_text.isEmpty()) {
+    font = InterFont(100, QFont::Bold);
+    alert_bottom_adjustment = 5;
+    txtColor = QColor(255, 255, 255, 255);
+  } else {
+    font = InterFont(48, QFont::Bold);
+    alert_bottom_adjustment = 7;
+    txtColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 255) : QColor(0, 255, 0, 190);
+  }
+  p.setPen(txtColor);
+  p.setFont(font);
+  QFontMetrics fm(p.font());
+  QRect textRect = fm.boundingRect(alertRect, Qt::TextWordWrap, alert_text);
+  textRect.moveCenter({alertRect.center().x(), alertRect.center().y()});
+  textRect.moveBottom(alertRect.bottom() - alertRect.height() / alert_bottom_adjustment);
+  p.drawText(textRect, Qt::AlignCenter, alert_text);
+
+  if (!alert_alt_text.isEmpty()) {
+    // Alert Alternate Text
+    p.setFont(InterFont(80, QFont::Bold));
+    p.setPen(QColor(255, 175, 3, 240));
+    QFontMetrics fmt(p.font());
+    QRect topTextRect = fmt.boundingRect(alertRect, Qt::TextWordWrap, alert_alt_text);
+    topTextRect.moveCenter({alertRect.center().x(), alertRect.center().y()});
+    topTextRect.moveTop(alertRect.top() + alertRect.height() / 3.5);
+    p.drawText(topTextRect, Qt::AlignCenter, alert_alt_text);
+  } else {
+    // Alert Image instead of Top Text
+    QPointF pixmapCenterOffset = QPointF(alert_img.width() / 2.0, alert_img.height() / 2.0);
+    QPointF drawPoint = center - pixmapCenterOffset;
+    p.drawPixmap(drawPoint, alert_img);
+  }
+}
+
+void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
+  QString speedStr = QString::number(std::nearbyint(speed));
+
+  p.setFont(InterFont(176, QFont::Bold));
+  HudRenderer::drawText(p, surface_rect.center().x(), 210, speedStr);
+
+  p.setFont(InterFont(66));
+  HudRenderer::drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
+}
+
+void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
+  const bool hazard = leftBlinkerOn && rightBlinkerOn;
+  int blinkerStatus = hazard ? 2 : (leftBlinkerOn || rightBlinkerOn) ? 1 : 0;
+
+  if (!leftBlinkerOn && !rightBlinkerOn) {
+    blinkerFrameCounter = 0;
+    lastBlinkerStatus = 0;
+    return;
+  }
+
+  if (blinkerStatus != lastBlinkerStatus) {
+    blinkerFrameCounter = 0;
+    lastBlinkerStatus = blinkerStatus;
+  }
+
+  ++blinkerFrameCounter;
+
+  const int BLINKER_COOLDOWN_FRAMES = UI_FREQ / 10;
+  if (blinkerFrameCounter < BLINKER_COOLDOWN_FRAMES) {
+    return;
+  }
+
+  const int circleRadius = 60;
+  const int arrowLength = 60;
+  const int x_gap = 160;
+  const int y_offset = 272;
+
+  const int centerX = surface_rect.center().x();
+
+  const QPen bgBorder(Qt::white, 5);
+  const QPen arrowPen(Qt::NoPen);
+
+  p.save();
+
+  auto drawArrow = [&](int cx, int cy, int dir, const QBrush &arrowBrush) {
+    const int bodyLength = arrowLength / 2;
+    const int bodyWidth = arrowLength / 2;
+    const int headLength = arrowLength / 2;
+    const int headWidth = arrowLength;
+
+    QPolygon arrow;
+    arrow.reserve(7);
+    arrow << QPoint(cx - dir * bodyLength, cy - bodyWidth / 2)
+        << QPoint(cx, cy - bodyWidth / 2)
+        << QPoint(cx, cy - headWidth / 2)
+        << QPoint(cx + dir * headLength, cy)
+        << QPoint(cx, cy + headWidth / 2)
+        << QPoint(cx, cy + bodyWidth / 2)
+        << QPoint(cx - dir * bodyLength, cy + bodyWidth / 2);
+
+    p.setPen(arrowPen);
+    p.setBrush(arrowBrush);
+    p.drawPolygon(arrow);
+  };
+
+  auto drawCircle = [&](int cx, int cy, const QBrush &bgBrush) {
+    p.setPen(bgBorder);
+    p.setBrush(bgBrush);
+    p.drawEllipse(QPoint(cx, cy), circleRadius, circleRadius);
+  };
+
+  struct BlinkerSide { bool on; int dir; bool blocked; int cx; };
+  const std::array<BlinkerSide, 2> sides = {{
+    {leftBlinkerOn, -1, hazard ? true : (leftBlinkerOn  && leftBlindspot), centerX - x_gap},
+    {rightBlinkerOn, 1, hazard ? true : (rightBlinkerOn && rightBlindspot), centerX + x_gap},
+  }};
+
+  for (const auto &s: sides) {
+    if (!s.on) continue;
+
+    QColor bgColor = s.blocked ? QColor(135, 23, 23) : QColor(23, 134, 68);
+    QColor arrowColor = s.blocked ? QColor(66, 12, 12) : QColor(12, 67, 34);
+    if (pulseElement(blinkerFrameCounter)) arrowColor = Qt::white;
+
+    const QBrush bgBrush(bgColor);
+    const QBrush arrowBrush(arrowColor);
+
+    drawCircle(s.cx, y_offset, bgBrush);
+    drawArrow(s.cx, y_offset, s.dir, arrowBrush);
+  }
+
+  p.restore();
+}

selfdrive/ui/sunnypilot/qt/onroad/hud.h

@@ -8,8 +8,11 @@
 #pragma once
 
 #include "selfdrive/ui/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
+constexpr int SPEED_LIMIT_AHEAD_VALID_FRAME_THRESHOLD = 5;
+
 class HudRendererSP : public HudRenderer {
   Q_OBJECT
 
@@ -28,6 +31,14 @@ private:
   void drawStandstillTimer(QPainter &p, int x, int y);
   bool pulseElement(int frame);
   void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name);
+  void drawSpeedLimitSigns(QPainter &p, QRect &sign_rect);
+  void drawUpcomingSpeedLimit(QPainter &p);
+  void drawRoadName(QPainter &p, const QRect &surface_rect);
+  void drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect);
+  void drawSetSpeedSP(QPainter &p, const QRect &surface_rect);
+  void drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text = "");
+  void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect);
+  void drawBlinker(QPainter &p, const QRect &surface_rect);
 
   bool lead_status;
   float lead_d_rel;
@@ -63,4 +74,50 @@ private:
   bool smartCruiseControlVisionEnabled;
   bool smartCruiseControlVisionActive;
   int smartCruiseControlVisionFrame;
+  bool smartCruiseControlMapEnabled;
+  bool smartCruiseControlMapActive;
+  int smartCruiseControlMapFrame;
+  float speedLimit;
+  float speedLimitLast;
+  float speedLimitOffset;
+  bool speedLimitValid;
+  bool speedLimitLastValid;
+  float speedLimitFinalLast;
+  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
+  bool speedLimitAheadValid;
+  float speedLimitAhead;
+  float speedLimitAheadDistance;
+  float speedLimitAheadDistancePrev;
+  int speedLimitAheadValidFrame;
+  SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF;
+  bool roadName;
+  QString roadNameStr;
+  cereal::LongitudinalPlanSP::SpeedLimit::AssistState speedLimitAssistState;
+  bool speedLimitAssistActive;
+  int speedLimitAssistFrame;
+  QPixmap plus_arrow_up_img;
+  QPixmap minus_arrow_down_img;
+  int e2e_alert_size = 250;
+  QPixmap green_light_alert_img;
+  bool greenLightAlert;
+  int e2eAlertFrame;
+  int e2eAlertDisplayTimer = 0;
+  bool allow_e2e_alerts;
+  bool leadDepartAlert;
+  QPixmap lead_depart_alert_img;
+  QString alert_text;
+  QPixmap alert_img;
+  bool hideVEgoUI;
+  bool leftBlinkerOn;
+  bool rightBlinkerOn;
+  bool leftBlindspot;
+  bool rightBlindspot;
+  int blinkerFrameCounter;
+  int lastBlinkerStatus;
+  bool showTurnSignals;
+
+  bool carControlEnabled;
+  float speedCluster = 0;
+  int icbm_active_counter = 0;
+  bool pcmCruiseSpeed = true;
 };

selfdrive/ui/sunnypilot/qt/onroad/model.cc

@@ -21,70 +21,234 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
   mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
 }
 
-void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
+void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
   auto *s = uiState();
   auto &sm = *(s->sm);
-  bool blindspot = Params().getBool("BlindSpot");
 
-  if (blindspot) {
-    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
-    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
-
-    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
-
-    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(left_blindspot_vertices);
-    }
-
-    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
-      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
-      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-      painter.setBrush(gradient);
-      painter.drawPolygon(right_blindspot_vertices);
-    }
+  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
+      sm.rcv_frame("modelV2") < s->scene.started_frame) {
+    return;
   }
 
-  bool rainbow = Params().getBool("RainbowMode");
-  //float v_ego = sm["carState"].getCarState().getVEgo();
+  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
+  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
 
-  if (rainbow) {
-    // Simple time-based animation
-    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
-        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+  painter.save();
 
-    // simple linear gradient from bottom to top
-    QLinearGradient bg(0, surface_rect.height(), 0, 0);
+  const auto &model = sm["modelV2"].getModelV2();
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &car_state = sm["carState"].getCarState();
 
-    // evenly spaced colors across the spectrum
-    // The animation shifts the entire spectrum smoothly
-    float animation_speed = 40.0f; // speed vroom vroom
-    float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+  update_model(model, lead_one);
+  drawLaneLines(painter);
 
-    // 6-8 color stops for smooth transitions more color makes it laggy
-    const int num_stops = 7;
-    for (int i = 0; i < num_stops; i++) {
-      float position = static_cast<float>(i) / (num_stops - 1);
-
-      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
-      float saturation = 0.9f;
-      float lightness = 0.6f;
-
-      // Alpha fades out towards the far end of the path
-      float alpha = 0.8f * (1.0f - position * 0.3f);
-
-      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
-      bg.setColorAt(position, color);
-    }
-
-    painter.setBrush(bg);
-    painter.drawPolygon(track_vertices);
+  if (s->scene.rainbow_mode) {
+    drawRainbowPath(painter, surface_rect);
   } else {
-    // Normal path rendering
     ModelRenderer::drawPath(painter, model, surface_rect.height());
   }
+
+  if (longitudinal_control && sm.alive("radarState")) {
+    update_leads(radar_state, model.getPosition());
+    const auto &lead_two = radar_state.getLeadTwo();
+    if (lead_one.getStatus()) {
+      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
+    }
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
+    }
+  }
+
+  if (s->scene.blindspot_ui) {
+    const bool left_blindspot = car_state.getLeftBlindspot();
+    const bool right_blindspot = car_state.getRightBlindspot();
+    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
+  }
+  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
+
+  painter.restore();
+}
+
+void ModelRendererSP::drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot) {
+  if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(left_blindspot_vertices);
+  }
+
+  if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+    QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+    painter.setBrush(gradient);
+    painter.drawPolygon(right_blindspot_vertices);
+  }
+}
+
+void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+
+  bool longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
+  if (!longitudinal_control) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    return;
+  }
+
+  if (!sm.alive("radarState")) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    return;
+  }
+
+  const auto &radar_state = sm["radarState"].getRadarState();
+  const auto &lead_one = radar_state.getLeadOne();
+  const auto &lead_two = radar_state.getLeadTwo();
+
+  bool has_lead_one = lead_one.getStatus();
+  bool has_lead_two = lead_two.getStatus();
+
+  if (!has_lead_one && !has_lead_two) {
+    lead_status_alpha = std::max(0.0f, lead_status_alpha - 0.05f);
+    if (lead_status_alpha <= 0.0f) return;
+  } else {
+    lead_status_alpha = std::min(1.0f, lead_status_alpha + 0.1f);
+  }
+
+  if (has_lead_one) {
+    drawLeadStatusPosition(painter, lead_one, lead_vertices[0], height, width);
+  }
+
+  if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
+    drawLeadStatusPosition(painter, lead_two, lead_vertices[1], height, width);
+  }
+}
+
+void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                                             const QPointF &chevron_pos, int height, int width) {
+  float d_rel = lead_data.getDRel();
+  float v_rel = lead_data.getVRel();
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  float v_ego = sm["carState"].getCarState().getVEgo();
+
+  int chevron_data = s->scene.chevron_info;
+  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+
+  QFont content_font = painter.font();
+  content_font.setPixelSize(50);
+  content_font.setBold(true);
+  painter.setFont(content_font);
+
+  bool is_metric = s->scene.is_metric;
+  QStringList text_lines;
+  const int chevron_all = 4;
+  QStringList chevron_text[3];
+
+  // Distance display
+  if (chevron_data == 1 || chevron_data == chevron_all) {
+    int pos = 0;
+    float val = std::max(0.0f, d_rel);
+    QString unit = is_metric ? "m" : "ft";
+    if (!is_metric) val *= 3.28084f;
+    chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+  }
+
+  // Speed display
+  if (chevron_data == 2 || chevron_data == chevron_all) {
+    int pos = (chevron_data == 2) ? 0 : 1;
+    float multiplier = is_metric ? static_cast<float>(MS_TO_KPH) : static_cast<float>(MS_TO_MPH);
+    float val = std::max(0.0f, (v_rel + v_ego) * multiplier);
+    QString unit = is_metric ? "km/h" : "mph";
+    chevron_text[pos].append(QString::number(val, 'f', 0) + " " + unit);
+  }
+
+  // Time to contact
+  if (chevron_data == 3 || chevron_data == chevron_all) {
+    int pos = (chevron_data == 3) ? 0 : 2;
+    float val = (d_rel > 0 && v_ego > 0) ? std::max(0.0f, d_rel / v_ego) : 0.0f;
+    QString ttc = (val > 0 && val < 200) ? QString::number(val, 'f', 1) + "s" : "---";
+    chevron_text[pos].append(ttc);
+  }
+
+  for (int i = 0; i < 3; ++i) {
+    if (!chevron_text[i].isEmpty()) text_lines.append(chevron_text[i]);
+  }
+
+  if (text_lines.isEmpty()) return;
+
+  QFontMetrics fm(content_font);
+  float text_width = 120.0f;
+  for (const QString &line : text_lines) {
+    text_width = std::max(text_width, fm.horizontalAdvance(line) + 20.0f);
+  }
+  text_width = std::min(text_width, 250.0f);
+
+  float line_height = 50.0f;
+  float total_height = text_lines.size() * line_height;
+  float margin = 20.0f;
+
+  float text_y = chevron_pos.y() + sz + 15;
+  if (text_y + total_height > height - margin) {
+    float y_max = chevron_pos.y() > (height - margin) ? (height - margin) : chevron_pos.y();
+    text_y = y_max - 15 - total_height;
+    text_y = std::max(margin, text_y);
+  }
+
+  float text_x = chevron_pos.x() - text_width / 2;
+  text_x = std::clamp(text_x, margin, (float)width - text_width - margin);
+
+  QPoint shadow_offset(2, 2);
+  QColor text_color = QColor(255, 255, 255, (int)(255 * lead_status_alpha));
+  for (int i = 0; i < text_lines.size(); ++i) {
+    float y = text_y + (i * line_height);
+    if (y + line_height > height - margin) break;
+
+    QRect rect(text_x, y, text_width, line_height);
+
+    // Draw shadow
+    painter.setPen(QColor(0, 0, 0, (int)(200 * lead_status_alpha)));
+    painter.drawText(rect.translated(shadow_offset), Qt::AlignCenter, text_lines[i]);
+    painter.setPen(text_color);
+    painter.drawText(rect, Qt::AlignCenter, text_lines[i]);
+  }
+
+  painter.setPen(Qt::NoPen);
+}
+
+void ModelRendererSP::drawRainbowPath(QPainter &painter, const QRect &surface_rect) {
+  // Simple time-based animation
+  float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
+
+  // simple linear gradient from bottom to top
+  QLinearGradient bg(0, surface_rect.height(), 0, 0);
+
+  // evenly spaced colors across the spectrum
+  // The animation shifts the entire spectrum smoothly
+  float animation_speed = 40.0f; // speed vroom vroom
+  float hue_offset = fmod(time_offset * animation_speed, 360.0f);
+
+  // 6-8 color stops for smooth transitions more color makes it laggy
+  const int num_stops = 7;
+  for (int i = 0; i < num_stops; i++) {
+    float position = static_cast<float>(i) / (num_stops - 1);
+
+    float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+    float saturation = 0.9f;
+    float lightness = 0.6f;
+
+    // Alpha fades out towards the far end of the path
+    float alpha = 0.8f * (1.0f - position * 0.3f);
+
+    QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+    bg.setColorAt(position, color);
+  }
+
+  painter.setBrush(bg);
+  painter.drawPolygon(track_vertices);
 }

selfdrive/ui/sunnypilot/qt/onroad/model.h

@@ -13,10 +13,19 @@ class ModelRendererSP : public ModelRenderer {
 public:
   ModelRendererSP() = default;
 
+  void draw(QPainter &painter, const QRect &surface_rect);
+
 private:
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
+  void drawLeadStatus(QPainter &painter, int height, int width);
+  void drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
+                              const QPointF &chevron_pos, int height, int width);
+  void drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot);
+  void drawRainbowPath(QPainter &painter, const QRect &surface_rect);
 
   QPolygonF left_blindspot_vertices;
   QPolygonF right_blindspot_vertices;
+
+  // Lead status animation
+  float lead_status_alpha = 0.0f;
 };

selfdrive/ui/sunnypilot/qt/util.cc

@@ -95,13 +95,12 @@ QStringList searchFromList(const QString &query, const QStringList &list) {
     return list;
   }
 
-  QStringList search_terms = query.simplified().toLower().split(" ", QString::SkipEmptyParts);
+  QStringList search_terms = query.simplified().toLower().replace(QRegularExpression("[^a-zA-Z0-9\\s]"), " ").split(" ", QString::SkipEmptyParts);
   QStringList search_results;
 
   for (const QString &element : list) {
     if (std::all_of(search_terms.begin(), search_terms.end(), [&](const QString &term) {
           QString normalized_term = term.normalized(QString::NormalizationForm_KD).toLower();
-          normalized_term.remove(QRegularExpression("[^a-zA-Z0-9\\s]"));
           QString normalized_element = element.normalized(QString::NormalizationForm_KD).toLower();
           return normalized_element.contains(normalized_term, Qt::CaseInsensitive);
         })) {
@@ -123,3 +122,7 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
     return std::nullopt;
   }
 }
+
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
+  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
+}

selfdrive/ui/sunnypilot/qt/util.h

@@ -23,3 +23,4 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);

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

@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <cmath>
 #include <map>
 #include <optional>
 #include <string>
@@ -389,7 +390,7 @@ class ButtonParamControlSP : public MultiButtonControlSP {
   Q_OBJECT
 public:
   ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 380, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
                                                                                                                           button_texts, minimum_button_width, inline_layout, advancedControl) {
     key = param.toStdString();
     int value = atoi(params.get(key).c_str());
@@ -500,7 +501,7 @@ private:
 
   int getParamValueScaled() {
     const auto param_value = QString::fromStdString(params.get(key));
-    return static_cast<int>(param_value.toFloat() * 100);
+    return std::nearbyint(param_value.toFloat() * 100.0f);
   }
 
   void setParamValueScaled(const int new_value) {
@@ -544,10 +545,8 @@ public:
         main_layout->removeWidget(title_label);
         hlayout->addWidget(title_label, 1);
       }
-      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
-        main_layout->removeItem(spacingItem);
-        spacingItem = nullptr;
-      }
+      main_layout->removeItem(spacingItem);
+      spacingItem = nullptr;
     }
 
     label.setStyleSheet(label_enabled_style);

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

@@ -14,10 +14,10 @@ ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &ti
   QObject::connect(this, &ExpandableToggleRow::toggleFlipped, this, &ExpandableToggleRow::toggleClicked);
 
   collapsibleWidget = new QFrame(this);
-  collapsibleWidget->setContentsMargins(0, 0, 0, 0);
   collapsibleWidget->setVisible(false);
   QVBoxLayout *collapsible_layout = new QVBoxLayout();
   collapsibleWidget->setLayout(collapsible_layout);
+  collapsible_layout->setContentsMargins(0, 0, 0, 0);
 
   list = new ListWidgetSP(this, false);
 

selfdrive/ui/sunnypilot/ui.cc

@@ -11,6 +11,15 @@
 
 void UIStateSP::updateStatus() {
   UIState::updateStatus();
+
+  if (scene.started && scene.onroadScreenOffControl) {
+    auto selfdriveState = (*sm)["selfdriveState"].getSelfdriveState();
+    if (selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE) {
+      reset_onroad_sleep_timer();
+    } else if (scene.onroadScreenOffTimer > 0) {
+      scene.onroadScreenOffTimer--;
+    }
+  }
 }
 
 UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
@@ -20,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
     "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
     "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
   });
 
   // update timer
@@ -53,6 +62,31 @@ void ui_update_params_sp(UIStateSP *s) {
   auto params = Params();
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
+  s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
+  s->scene.road_name = params.getBool("RoadNameToggle");
+  s->scene.trueVEgoUI = params.getBool("TrueVEgoUI");
+  s->scene.hideVEgoUI = params.getBool("HideVEgoUI");
+
+  // Onroad Screen Brightness
+  s->scene.onroadScreenOffBrightness = std::atoi(params.get("OnroadScreenOffBrightness").c_str());
+  s->scene.onroadScreenOffControl = params.getBool("OnroadScreenOffControl");
+  s->scene.onroadScreenOffTimerParam = std::atoi(params.get("OnroadScreenOffTimer").c_str());
+
+  s->scene.turn_signals = params.getBool("ShowTurnSignals");
+  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");
+}
+
+void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
+  // Toggling from active state to inactive
+  if (toggleTimerStatus == OnroadTimerStatusToggle::PAUSE and scene.onroadScreenOffTimer != -1) {
+    scene.onroadScreenOffTimer = -1;
+  }
+  // Toggling from a previously inactive state or resetting an active timer
+  else if ((scene.onroadScreenOffTimerParam >= 0 and scene.onroadScreenOffControl and scene.onroadScreenOffTimer != -1) or toggleTimerStatus == OnroadTimerStatusToggle::RESUME) {
+    scene.onroadScreenOffTimer = scene.onroadScreenOffTimerParam * UI_FREQ;
+  }
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {

selfdrive/ui/sunnypilot/ui.h

@@ -15,6 +15,12 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 
+enum OnroadTimerStatusToggle {
+  NONE,
+  PAUSE,
+  RESUME
+};
+
 class UIStateSP : public UIState {
   Q_OBJECT
 
@@ -61,6 +67,7 @@ public:
       return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor";
     });
   }
+  void reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus = OnroadTimerStatusToggle::NONE);
 
 signals:
   void sunnylinkRoleChanged(bool subscriber);

selfdrive/ui/sunnypilot/ui_scene.h

@@ -10,4 +10,15 @@
 typedef struct UISceneSP : UIScene {
   int dev_ui_info = 0;
   bool standstill_timer = false;
+  int speed_limit_mode = 0;
+  bool road_name = false;
+  int onroadScreenOffBrightness, onroadScreenOffTimer = 0;
+  bool onroadScreenOffControl;
+  int onroadScreenOffTimerParam;
+  bool trueVEgoUI;
+  bool hideVEgoUI;
+  bool turn_signals = false;
+  int chevron_info;
+  bool blindspot_ui;
+  bool rainbow_mode;
 } UISceneSP;