license

Merge branch 'master' into move-to-steering
Live delay in steering panel instead
2026-08-03 12:59:25 +08:00 · 2025-08-11 10:42:15 -07:00 · 2025-08-11 10:37:09 -07:00 · 2025-08-11 10:35:06 -07:00 · 2025-08-11 09:18:24 -07:00 · 2025-08-10 07:50:31 -07:00
141 changed files with 1861 additions and 3664 deletions
@@ -127,7 +127,7 @@ jobs:
  retry_failed_models:
    needs: [setup, get_and_build]
    runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
+    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
    outputs:
      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
    steps:
@@ -39,4 +39,4 @@ jobs:
        git config --global --add safe.directory '*'
        git lfs pull
    - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh
+      run: BRANCH=__nightly release/build_devel.sh
@@ -50,7 +50,6 @@ jobs:
    - name: bump submodules
      run: |
        git config --global --add safe.directory '*'
-        git config submodule.tinygrad.update none
        git submodule update --remote
        git add .
    - name: update car docs
@@ -27,7 +27,7 @@ env:

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

-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical

 jobs:
  build_release:
@@ -52,7 +52,7 @@ jobs:
        command: git lfs pull
    - name: Build devel
      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot and run checks
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -190,8 +190,7 @@ jobs:
      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
      run: |
        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
+                        $PYTEST --collect-only -m 'not slow' &> /dev/null && \
                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -167,7 +167,7 @@ node {
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'testing-closet*', 'hotfix-*']
+                         'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -1,22 +1,15 @@
-Version 0.10.1 (2025-09-08)
-========================
-* Record driving feedback using LKAS button
-* Honda City 2023 support thanks to drFritz!
-
 Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
  * New training architecture
-     * Described in our CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
-     * Action from lateral MPC as training objective replaced by E2E planning from World Model
+     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
+     * Action from lateral MPC as training objective replaced by E2E planning from worldmodel
  * Low-speed lead car ground-truth fixes
+
 * Enable live-learned steering actuation delay
+* Record driving feedback using LKAS button when MADS is disabled
 * Opt-in audio recording for dashcam video
-* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
-* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
-* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!

 Version 0.9.9 (2025-05-23)
 ========================
@@ -123,9 +123,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  dec @0 :DynamicExperimentalControl;

-  events @1 :List(OnroadEventSP.Event);
-  slc @2 :SpeedLimitControl;
-
  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
    enabled @1 :Bool;
@@ -136,23 +133,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
      blended @1;
    }
  }
-
-  struct SpeedLimitControl {
-    state @0 :SpeedLimitControlState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-    speedLimit @3 :Float32;
-    speedLimitOffset @4 :Float32;
-    distToSpeedLimit @5 :Float32;
-  }
-
-  enum SpeedLimitControlState {
-    inactive @0; # No speed limit set or not enabled by parameter.
-    tempInactive @1; # User wants to ignore speed limit until it changes.
-    preActive @2;
-    adapting @3; # Reducing speed to match new speed limit.
-    active @4; # Cruising at speed limit.
-  }
 }

 struct OnroadEventSP @0xda96579883444c35 {
@@ -192,10 +172,6 @@ struct OnroadEventSP @0xda96579883444c35 {
    experimentalModeSwitched @14;
    wrongCarModeAlertOnly @15;
    pedalPressedAlertOnly @16;
-    speedLimitPreActive @17;
-    speedLimitActive @18;
-    speedLimitConfirmed @19;
-    speedLimitValueChange @20;
  }
 }

@@ -271,7 +247,6 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }

 struct CarStateSP @0xb86e6369214c01c8 {
-  speedLimit @0 :Float32;  # m/s
 }

 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -1 +1 @@
-#define DEFAULT_MODEL "Steam Powered (Default)"
+#define DEFAULT_MODEL "Space Lab 2 (Default)"
@@ -73,9 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT}},
    {"LastUpdateTime", {PERSISTENT, TIME}},
-    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
    {"LiveParameters", {PERSISTENT, JSON}},
    {"LiveParametersV2", {PERSISTENT, BYTES}},
@@ -147,7 +147,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
-    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
@@ -199,7 +198,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // mapd
    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
-    {"MapdVersion", {PERSISTENT, STRING}},
+    {"MapdVersion", {PERSISTENT, STRING, ""}},
    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
@@ -215,15 +214,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OsmStateName", {PERSISTENT, STRING, "All"}},
    {"OsmStateTitle", {PERSISTENT, STRING}},
    {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-
-    // Speed Limit Control
-    {"SpeedLimitControl", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SpeedLimitControlPolicy", {PERSISTENT | BACKUP, INT, "3"}},
-    {"SpeedLimitEngageType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitWarningType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitWarningOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitWarningValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING, ""}},
 };
@@ -14,8 +14,10 @@ class PIDController:
    if isinstance(self._k_d, Number):
      self._k_d = [[0], [self._k_d]]

-    self.set_limits(pos_limit, neg_limit)
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit

+    self.i_unwind_rate = 0.3 / rate
    self.i_rate = 1.0 / rate
    self.speed = 0.0

@@ -33,6 +35,10 @@ class PIDController:
  def k_d(self):
    return np.interp(self.speed, self._k_d[0], self._k_d[1])

+  @property
+  def error_integral(self):
+    return self.i/self.k_i
+
  def reset(self):
    self.p = 0.0
    self.i = 0.0
@@ -40,25 +46,25 @@ class PIDController:
    self.f = 0.0
    self.control = 0

-  def set_limits(self, pos_limit, neg_limit):
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
-
-  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
+  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
    self.speed = speed
+
    self.p = float(error) * self.k_p
    self.f = feedforward * self.k_f
    self.d = error_rate * self.k_d

-    if not freeze_integrator:
-      i = self.i + error * self.k_i * self.i_rate
+    if override:
+      self.i -= self.i_unwind_rate * float(np.sign(self.i))
+    else:
+      if not freeze_integrator:
+        self.i = self.i + error * self.k_i * self.i_rate

-      # Don't allow windup if already clipping
-      test_control = self.p + i + self.d + self.f
-      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
-      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
-      self.i = np.clip(i, i_lowerbound, i_upperbound)
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)

    control = self.p + self.i + self.d + self.f
+
    self.control = np.clip(control, self.neg_limit, self.pos_limit)
    return self.control
@@ -1,6 +1,4 @@
 import subprocess
-from contextlib import contextmanager
-from subprocess import Popen, PIPE, TimeoutExpired


 def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
@@ -13,16 +11,3 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
  except subprocess.CalledProcessError:
    return default

-
-@contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.1"
+#define COMMA_VERSION "0.10.0"
@@ -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.

-# 326 Supported Cars
+# 321 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -82,7 +82,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |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>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
@@ -106,7 +105,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2021-23|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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 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=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra Non-SCC 2022|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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 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=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -124,9 +122,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Kona Electric 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=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|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 I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 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 B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|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 N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
@@ -150,7 +146,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|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 Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|Ceed Plug-in Hybrid Non-SCC 2022|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 I 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 Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P 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 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24[<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 P 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 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |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>|||
@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu

 ### Getting Started

-* Set up your [development environment](/tools/)
+* Setup your [development environment](../tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai

@@ -1,11 +1,11 @@
 # Turn the speed blue
 *A getting started guide for openpilot development*

-In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
+In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.

 And if you have a comma 3/3X, we'll deploy the change to your device for testing.

-## 1. Set up your development environment
+## 1. Setup your development environment

 Run this to clone openpilot and install all the dependencies:
 ```bash
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8"
+  export AGNOS_VERSION="12.6"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -3,34 +3,33 @@
 ```
 ## release checklist

-### Go to staging
- [ ] make a GitHub issue to track release
- [ ] create release master branch
+**Go to `devel-staging`**
+- [ ] make issue to track release
 - [ ] update RELEASES.md
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
+- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
 - [ ] build new userdata partition from `release3-staging`
+- [ ] open a pull request from `devel-staging` to `devel`
 - [ ] post on Discord, tag `@release crew`

-Updating staging:
-1. either rebase on master or cherry-pick changes
-2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
-3. build new userdata partition from `release3-staging`
-
-### Go to release
- [ ] before going to release, test the following:
+**Go to `devel`**
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] before merging the pull request, test the following:
  - [ ] update from previous release -> new release
  - [ ] update from new release -> previous release
  - [ ] fresh install with `openpilot-test.comma.ai`
  - [ ] drive on fresh install
  - [ ] no submodules or LFS
  - [ ] check sentry, MTBF, etc.
-  - [ ] stress test passes in production
+  - [ ] stress test in production
+
+**Go to `release3`**
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
 - [ ] update factory provisioning
- [ ] close out milestone and issue
+- [ ] close out milestone
 - [ ] post on Discord, X, etc.
 ```
@@ -17,23 +17,28 @@ rm -rf $TARGET_DIR
 mkdir -p $TARGET_DIR
 cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
+pre-commit uninstall || true

-echo "[-] setting up stripped branch sync T=$SECONDS"
+echo "[-] bringing __nightly and devel in sync T=$SECONDS"
 cd $TARGET_DIR

-# tmp branch
-git checkout --orphan tmp
+git fetch --depth 1 origin __nightly
+git fetch --depth 1 origin devel
+
+git checkout -f --track origin/__nightly
+git reset --hard __nightly
+git checkout __nightly
+git reset --hard origin/devel
+git clean -xdff
+git lfs uninstall

 # remove everything except .git
 echo "[-] erasing old sunnypilot T=$SECONDS"
-git submodule deinit -f --all
-git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;

-# cleanup before the copy
+# reset source tree
 cd $SOURCE_DIR
 git clean -xdff
-git submodule foreach --recursive git clean -xdff

 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -42,7 +47,6 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/

 # in the directory
 cd $TARGET_DIR
-rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed

 # include source commit hash and build date in commit
@@ -81,7 +85,7 @@ fi

 if [ ! -z "$BRANCH" ]; then
  echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin tmp:$BRANCH
+  git push -f origin __nightly:$BRANCH
 fi

 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206
-size 5713
@@ -107,10 +107,8 @@ class Car:
          cached_params = _cached_params

      fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
-      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)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
      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
@@ -439,7 +439,9 @@ class TestCarModelBase(unittest.TestCase):
        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
          brake_pressed = False
      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
-      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
+      # TODO: remove this exception before closing commaai/opendbc#1100
+      if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH):
+        checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
      checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()

      if self.CP.pcmCruise:
@@ -51,7 +51,7 @@ class Controls(ControlsExt, ModelStateBase):
                                  poll='selfdriveState')
    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)

-    self.steer_limited_by_safety = False
+    self.steer_limited_by_controls = False
    self.curvature = 0.0
    self.desired_curvature = 0.0

@@ -140,7 +140,7 @@ class Controls(ControlsExt, ModelStateBase):

    actuators.curvature = self.desired_curvature
    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_safety, self.desired_curvature,
+                                                       self.steer_limited_by_controls, self.desired_curvature,
                                                       self.calibrated_pose, curvature_limited)  # TODO what if not available
    actuators.torque = float(steer)
    actuators.steeringAngleDeg = float(steeringAngleDeg)
@@ -187,10 +187,10 @@ class Controls(ControlsExt, ModelStateBase):
    if self.sm['selfdriveState'].active:
      CO = self.sm['carOutput']
      if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                                              STEER_ANGLE_SATURATION_THRESHOLD
      else:
-        self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2

    # TODO: both controlsState and carControl valids should be set by
    #       sm.all_checks(), but this creates a circular dependency
@@ -15,15 +15,15 @@ class LatControl(ABC):
    self.steer_max = 1.0

  @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
    pass

  def reset(self):
    self.sat_count = 0.

-  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
    # Saturated only if control output is not being limited by car torque/angle rate limits
-    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
      self.sat_count += self.sat_count_rate
    else:
      self.sat_count -= self.sat_count_rate
@@ -3,7 +3,6 @@ import math
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl

-# TODO This is speed dependent
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees


@@ -11,9 +10,9 @@ class LatControlAngle(LatControl):
  def __init__(self, CP, CP_SP, CI):
    super().__init__(CP, CP_SP, CI)
    self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_controls = CP.brand == "tesla"

-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
    angle_log = log.ControlsState.LateralAngleState.new_message()

    if not active:
@@ -24,9 +23,9 @@ class LatControlAngle(LatControl):
      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
      angle_steers_des += params.angleOffsetDeg

-    if self.use_steer_limited_by_safety:
+    if self.use_steer_limited_by_controls:
      # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
-      angle_control_saturated = steer_limited_by_safety
+      angle_control_saturated = steer_limited_by_controls
    else:
      # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
      # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved
@@ -13,7 +13,11 @@ class LatControlPID(LatControl):
                             k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
    self.get_steer_feedforward = CI.get_steer_feedforward_function()

-  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
+  def reset(self):
+    super().reset()
+    self.pid.reset()
+
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
    pid_log = log.ControlsState.LateralPIDState.new_message()
    pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -25,24 +29,20 @@ class LatControlPID(LatControl):
    pid_log.steeringAngleDesiredDeg = angle_steers_des
    pid_log.angleError = error
    if not active:
-      output_torque = 0.0
+      output_steer = 0.0
      pid_log.active = False
-
+      self.pid.reset()
    else:
      # offset does not contribute to resistive torque
-      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-
-      output_torque = self.pid.update(error,
-                                feedforward=ff,
-                                speed=CS.vEgo,
-                                freeze_integrator=freeze_integrator)
+      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)

+      output_steer = self.pid.update(error, override=CS.steeringPressed,
+                                     feedforward=steer_feedforward, speed=CS.vEgo)
      pid_log.active = True
      pid_log.p = float(self.pid.p)
      pid_log.i = float(self.pid.i)
      pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_torque)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.output = float(output_steer)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))

-    return output_torque, angle_steers_des, pid_log
+    return output_steer, angle_steers_des, pid_log
@@ -3,6 +3,7 @@ import numpy as np

 from cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
@@ -28,11 +29,9 @@ class LatControlTorque(LatControl):
  def __init__(self, CP, CP_SP, CI):
    super().__init__(CP, CP_SP, CI)
    self.torque_params = CP.lateralTuning.torque.as_builder()
-    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
-    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf)
-    self.update_limits()
+                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg

    self.extension = LatControlTorqueExt(self, CP, CP_SP)
@@ -41,13 +40,8 @@ class LatControlTorque(LatControl):
    self.torque_params.latAccelFactor = latAccelFactor
    self.torque_params.latAccelOffset = latAccelOffset
    self.torque_params.friction = friction
-    self.update_limits()

-  def update_limits(self):
-    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
-                        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):
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
    pid_log = log.ControlsState.LateralTorqueState.new_message()
    if not active:
      output_torque = 0.0
@@ -67,10 +61,13 @@ class LatControlTorque(LatControl):
      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
-
-      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
-      pid_log.error = float(setpoint - measurement)
-      ff = gravity_adjusted_lateral_accel
+      torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                                            gravity_adjusted=False)
+      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                                               gravity_adjusted=False)
+      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
+                                          gravity_adjusted=True)
      ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)

      # Lateral acceleration torque controller extension updates
@@ -79,22 +76,21 @@ class LatControlTorque(LatControl):
                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
                                          desired_curvature, actual_curvature)

-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
+      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
+      output_torque = self.pid.update(pid_log.error,
                                      feedforward=ff,
                                      speed=CS.vEgo,
                                      freeze_integrator=freeze_integrator)
-      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)

      pid_log.active = True
      pid_log.p = float(self.pid.p)
      pid_log.i = float(self.pid.i)
      pid_log.d = float(self.pid.d)
      pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)  # TODO: log lat accel?
+      pid_log.output = float(-output_torque)
      pid_log.actualLateralAccel = float(actual_lateral_accel)
      pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))

    # TODO left is positive in this convention
    return -output_torque, 0.0, pid_log
@@ -93,12 +93,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    return x, v, a, j, throttle_prob

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

@@ -123,7 +123,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    # No change cost when user is controlling the speed, or when standstill
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

-    if mode == 'acc':
+    if self.mode == 'acc':
      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -146,9 +146,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)

-    # Get new v_cruise from Speed Limit Control
-    v_cruise = LongitudinalPlannerSP.update_v_cruise(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
-
    if force_slow_decel:
      v_cruise = 0.0

@@ -176,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

-    if mode == 'acc' or not self.mlsim:
+    if self.mode == 'acc' or not self.mlsim:
      output_a_target = output_a_target_mpc
      self.output_should_stop = output_should_stop_mpc
    else:
@@ -5,7 +5,6 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
-from opendbc.car.gm.values import CAR as GM
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -18,8 +17,7 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac

 class TestLatControl:

-  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
-                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
  def test_saturation(self, car_name, controller):
    CarInterface = interfaces[car_name]
    CP = CarInterface.get_non_essential_params(car_name)
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -17,13 +16,10 @@ def main():
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("plannerd got CarParams: %s", CP.brand)

-  gps_location_service = get_gps_location_service(params)
-
  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            'liveMapDataSP', 'carStateSP', gps_location_service],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                           poll='modelV2')

  while True:
@@ -107,12 +107,15 @@ class ModelState(ModelStateBase):

    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)

    # policy inputs
    self.numpy_inputs = {
      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
+      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
+      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
    }

@@ -145,6 +148,7 @@ class ModelState(ModelStateBase):
    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)

    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}

    if TICI and not USBGPU:
@@ -170,6 +174,11 @@ class ModelState(ModelStateBase):
    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))

+    # TODO model only uses last value now
+    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
+    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
+
    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
    if SEND_RAW_PRED:
      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -290,6 +299,7 @@ def main(demo=False):
    if sm.frame % 60 == 0:
      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
+    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -322,6 +332,7 @@ def main(demo=False):
    inputs:dict[str, np.ndarray] = {
      'desire': vec_desire,
      'traffic_convention': traffic_convention,
+      'lateral_control_params': lateral_control_params,
    }

    mt1 = time.perf_counter()
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
-size 12343523
+oid sha256:22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29
+size 15583374
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
-size 46271991
+oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
+size 46265993
@@ -22,10 +22,9 @@ class Parser:
    self.ignore_missing = ignore_missing

  def check_missing(self, outs, name):
-    missing = name not in outs
-    if missing and not self.ignore_missing:
+    if name not in outs and not self.ignore_missing:
      raise ValueError(f"Missing output {name}")
-    return missing
+    return name not in outs

  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
    if self.check_missing(outs, name):
@@ -85,13 +84,6 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

-  def is_mhp(self, outs, name, shape):
-    if self.check_missing(outs, name):
-      return False
-    if outs[name].shape[1] == 2 * shape:
-      return False
-    return True
-
  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@@ -102,17 +94,17 @@ class Parser:
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
    self.parse_binary_crossentropy('lead_prob', outs)
-    lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
-    lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
-    lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
-        (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
-    self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    return outs

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

@@ -93,7 +93,7 @@ def main() -> None:

      # TODO: remove this in the next AGNOS
      # wait until USB is up before counting
-      if time.monotonic() < 60.:
+      if time.monotonic() < 35.:
        no_internal_panda_count = 0

      # Handle missing internal panda
@@ -96,7 +96,7 @@ class SelfdriveD(CruiseHelper):
                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
-                                   self.camera_packets + self.sensor_packets + self.gps_packets + ["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))

@@ -209,7 +209,6 @@ 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:
@@ -266,10 +265,7 @@ class SelfdriveD(CruiseHelper):
      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
        self.events.add(EventName.ldw)

-    # ******************************************************************************************
-    #  NOTE: To fork maintainers.
-    #  Disabling or nerfing safety features will get you and your users banned from our servers.
-    #  We recommend that you do not change these numbers from the defaults.
+    # Check for excessive actuation
    if self.sm.updated['liveCalibration']:
      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
    if self.sm.updated['livePose']:
@@ -284,7 +280,6 @@ class SelfdriveD(CruiseHelper):

    if self.excessive_actuation:
      self.events.add(EventName.excessiveActuation)
-    # ******************************************************************************************

    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
@@ -67,9 +67,6 @@ 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

@@ -136,10 +133,7 @@ class Plant:
          'controlsState': control.controlsState,
          'selfdriveState': ss.selfdriveState,
          'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2,
-          'carStateSP': car_state_sp.carStateSP,
-          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
-          'gpsLocation': gps_data.gpsLocation}
+          'modelV2': model.modelV2}
    self.planner.update(sm)
    self.acceleration = self.planner.output_a_target
    self.speed = self.speed + self.acceleration * self.ts
@@ -1 +1 @@
-6d3219bca9f66a229b38a5382d301a92b0147edb
+62b3e8590fe85f87494517b3177a0ccaad1e17e5
@@ -63,7 +63,7 @@ segments = [
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "body", "psa"]
+excluded_interfaces = ["mock", "body"]

 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -333,18 +333,20 @@ class TestOnroad:
            assert np.all(eof_sof_diff > 0)
            assert np.all(eof_sof_diff < 50*1e6)

-        first_fid = {min(self.ts[c]['frameId']) for c in cams}
-        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
+        first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
        if cam.endswith('CameraState'):
          # camerad guarantees that all cams start on frame ID 0
          # (note loggerd also needs to start up fast enough to catch it)
-          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
+          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
+        else:
+          # encoder guarantees all cams start on the same frame ID
+          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"

        # we don't do a full segment rotation, so these might not match exactly
-        last_fid = {max(self.ts[c]['frameId']) for c in cams}
-        assert max(last_fid) - min(last_fid) < 10
+        last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
+        assert max(last_fid.values()) - min(last_fid.values()) < 10

-        start, end = min(first_fid), min(last_fid)
+        start, end = min(first_fid.values()), min(last_fid.values())
        for i in range(end-start):
          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
          diff = (max(ts.values()) - min(ts.values()))
@@ -22,9 +22,8 @@ def main():
    sm.update()
    should_send_bookmark = False

-    # TODO: https://github.com/commaai/openpilot/issues/36015
    # only allow the LKAS button to record feedback when MADS is disabled
-    if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
+    if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
      for be in sm['carState'].buttonEvents:
        if be.type == ButtonType.lkas:
          if be.pressed:
@@ -24,13 +24,11 @@ const std::string BRANCH_STR = get_str(BRANCH "?
 #define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
 #define CONTINUE_PATH "/data/continue.sh"

-const std::string INSTALL_PATH = "/data/openpilot";
-const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
+const std::string CACHE_PATH = "/data/openpilot.cache";

+#define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"

-const int FONT_SIZE = 120;
-
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
 extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
@@ -43,16 +41,6 @@ void run(const char* cmd) {
  assert(err == 0);
 }

-void finishInstall() {
-  BeginDrawing();
-    ClearBackground(BLACK);
-    const char *m = "Finishing install...";
-    int text_width = MeasureText(m, FONT_SIZE);
-    DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
-  EndDrawing();
-  util::sleep_for(60 * 1000);
-}
-
 void renderProgress(int progress) {
  BeginDrawing();
    ClearBackground(BLACK);
@@ -74,11 +62,11 @@ int doInstall() {
  }

  // cleanup previous install attempts
-  run("rm -rf " TMP_INSTALL_PATH);
+  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);

  // do the install
-  if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
-    return cachedFetch(INSTALL_PATH);
+  if (util::file_exists(CACHE_PATH)) {
+    return cachedFetch(CACHE_PATH);
  } else {
    return freshClone();
  }
@@ -147,9 +135,7 @@ void cloneFinished(int exitCode) {
  run("git submodule update --init");

  // move into place
-  run(("rm -f " + VALID_CACHE_PATH).c_str());
-  run(("rm -rf " + INSTALL_PATH).c_str());
-  run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());
+  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);

 #ifdef INTERNAL
  run("mkdir -p /data/params/d/");
@@ -167,9 +153,9 @@ void cloneFinished(int exitCode) {
    param << value;
    param.close();
  }
-  run(("cd " + INSTALL_PATH + " && "
+  run("cd " INSTALL_PATH " && "
      "git remote set-url origin --push " GIT_SSH_URL " && "
-      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
+      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
 #endif

  // write continue.sh
@@ -185,22 +171,16 @@ void cloneFinished(int exitCode) {
  run("mv /data/continue.sh.new " CONTINUE_PATH);

  // wait for the installed software's UI to take over
-  finishInstall();
+  util::sleep_for(60 * 1000);
 }

 int main(int argc, char *argv[]) {
  InitWindow(2160, 1080, "Installer");
-  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
+  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
  SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
-
-  if (util::file_exists(CONTINUE_PATH)) {
-    finishInstall();
-  } else {
-    renderProgress(0);
-    int result = doInstall();
-    cloneFinished(result);
-  }
-
+  renderProgress(0);
+  int result = doInstall();
+  cloneFinished(result);
  CloseWindow();
  UnloadFont(font);
  return 0;
@@ -28,7 +28,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
-TEXT_SELECTED = rl.WHITE
+TEXT_SELECTED = rl.Color(255, 255, 255, 255)


 class PanelType(IntEnum):
@@ -23,6 +23,10 @@ DESCRIPTIONS = {
  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
  "IsMetric": "Display speed in km/h instead of mph.",
  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
+  "RecordAudioFeedback": (
+    "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
+    "The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
+  ),
 }


@@ -81,6 +85,12 @@ class TogglesLayout(Widget):
        self._params.get_bool("RecordAudio"),
        icon="microphone.png",
      ),
+      toggle_item(
+        "Record Audio Feedback with LKAS button",
+        DESCRIPTIONS["RecordAudioFeedback"],
+        self._params.get_bool("RecordAudioFeedback"),
+        icon="microphone.png",
+      ),
      toggle_item(
        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
      ),
@@ -24,18 +24,18 @@ NetworkType = log.DeviceState.NetworkType
 # Color scheme
 class Colors:
  SIDEBAR_BG = rl.Color(57, 57, 57, 255)
-  WHITE = rl.WHITE
+  WHITE = rl.Color(255, 255, 255, 255)
  WHITE_DIM = rl.Color(255, 255, 255, 85)
  GRAY = rl.Color(84, 84, 84, 255)

  # Status colors
-  GOOD = rl.WHITE
+  GOOD = rl.Color(255, 255, 255, 255)
  WARNING = rl.Color(218, 202, 37, 255)
  DANGER = rl.Color(201, 34, 49, 255)

  # UI elements
  METRIC_BORDER = rl.Color(255, 255, 255, 85)
-  BUTTON_NORMAL = rl.WHITE
+  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
  BUTTON_PRESSED = rl.Color(255, 255, 255, 166)


@@ -2,15 +2,12 @@ from enum import IntEnum
 import os
 import threading
 import time
-from functools import lru_cache

 from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID

-TOKEN_EXPIRY_HOURS = 2
-

 class PrimeType(IntEnum):
  UNKNOWN = -2,
@@ -23,12 +20,6 @@ class PrimeType(IntEnum):
  PURPLE = 5,


-@lru_cache(maxsize=1)
-def get_token(dongle_id: str, t: int):
-  print('getting token')
-  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
-
-
 class PrimeState:
  FETCH_INTERVAL = 5.0  # seconds between API calls
  API_TIMEOUT = 10.0  # seconds for API requests
@@ -58,15 +49,13 @@ class PrimeState:
      return

    try:
-      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
+      identity_token = Api(dongle_id).get_token()
      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
      if response.status_code == 200:
        data = response.json()
        is_paired = data.get("is_paired", False)
        prime_type = data.get("prime_type", 0)
        self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
-      elif response.status_code == 401:
-        get_token.cache_clear()
    except Exception as e:
      cloudlog.error(f"Failed to fetch prime status: {e}")

@@ -34,7 +34,7 @@ class FontSizes:

@dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
+  white: rl.Color = rl.Color(255, 255, 255, 255)
  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
  engaged: rl.Color = rl.Color(128, 216, 166, 255)
@@ -47,7 +47,7 @@ class Colors:
  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)


 UI_CONFIG = UIConfig()
@@ -187,9 +187,9 @@ class ModelRenderer(Widget):
      self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
    )

-    self._update_experimental_gradient()
+    self._update_experimental_gradient(self._rect.height)

-  def _update_experimental_gradient(self):
+  def _update_experimental_gradient(self, height):
    """Pre-calculate experimental mode gradient colors"""
    if not self._experimental_mode:
      return
@@ -201,21 +201,22 @@ class ModelRenderer(Widget):

    i = 0
    while i < max_len:
-      # Some points (screen space) are out of frame (rect space)
-      track_y = self._path.projected_points[i][1]
-      if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
+      track_idx = max_len - i - 1  # flip idx to start from bottom right
+      track_y = self._path.projected_points[track_idx][1]
+      if track_y < 0 or track_y > height:
        i += 1
        continue

-      # Calculate color based on acceleration (0 is bottom, 1 is top)
-      lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
+      # Calculate color based on acceleration
+      lin_grad_point = (height - track_y) / height

      # speed up: 120, slow down: 0
-      path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
+      path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
+      path_hue = int(path_hue * 100 + 0.5) / 100

      saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
-      lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
-      alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
+      lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
+      alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)

      # Use HSL to RGB conversion
      color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
@@ -279,7 +280,7 @@ class ModelRenderer(Widget):

    if self._experimental_mode:
      # Draw with acceleration coloring
-      if len(self._exp_gradient['colors']) > 1:
+      if len(self._exp_gradient['colors']) > 2:
        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
      else:
        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
@@ -408,6 +409,13 @@ class ModelRenderer(Widget):

    return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)

+  @staticmethod
+  def _map_val(x, x0, x1, y0, y1):
+    x = np.clip(x, x0, x1)
+    ra = x1 - x0
+    rb = y1 - y0
+    return (x - x0) * rb / ra + y0 if ra != 0 else y0
+
  @staticmethod
  def _hsla_to_color(h, s, l, a):
    rgb = colorsys.hls_to_rgb(h, l, s)
@@ -75,6 +75,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/microphone.png",
      true,
    },
+    {
+      "RecordAudioFeedback",
+      tr("Record Audio Feedback with LKAS button"),
+      tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
+      "../assets/icons/microphone.png",
+      false,
+    },
    {
      "IsMetric",
      tr("Use Metric System"),
@@ -29,7 +29,6 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
  flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
  settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
  mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
-  link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60));

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

@@ -155,12 +154,7 @@ void Sidebar::drawSidebar(QPainter &p) {
  p.setFont(InterFont(35));
  p.setPen(QColor(0xff, 0xff, 0xff));
  const QRect r = QRect(58, 247, width() - 100, 50);
-
-  if (net_type == "Hotspot") {
-    p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img);
-  } else {
-    p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
-  }
+  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);

 #ifndef SUNNYPILOT
  // metrics
@@ -43,7 +43,7 @@ protected:
  void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
  virtual void drawSidebar(QPainter &p);

-  QPixmap home_img, flag_img, settings_img, mic_img, link_img;
+  QPixmap home_img, flag_img, settings_img, mic_img;
  bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
  const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
    {cereal::DeviceState::NetworkType::NONE, tr("--")},
@@ -45,6 +45,7 @@ qt_src = [

 lateral_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.cc",
  "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",
@@ -52,10 +53,6 @@ lateral_panel_qt_src = [

 longitudinal_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.cc",
 ]

 network_src = [
@@ -47,17 +47,17 @@ 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 is_release = params.getBool("IsReleaseBranch");
+  bool is_tested = params.getBool("IsTestedBranch");
+  bool is_development = params.getBool("IsDevelopmentBranch");
  bool disable_updates = params.getBool("DisableUpdates");

  prebuiltToggle->setVisible(!is_release && !is_tested && !is_development);
  prebuiltToggle->setEnabled(disable_updates);
+
  params.putBool("QuickBootToggle", QFile::exists("/data/openpilot/prebuilt"));
  prebuiltToggle->refresh();

@@ -66,7 +66,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
         "it immediately removes the prebuilt file so compilation of locally edited cpp files can be made. "
         "<br><br><b>To edit C++ files locally on device, you MUST first turn off this toggle so the changes can recompile.</b>")
    : tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."));
-  prebuiltToggle->showDescription();

  enableGithubRunner->setVisible(!is_release);
  errorLogBtn->setVisible(!is_release);
@@ -75,6 +74,7 @@ void DeveloperPanelSP::updateToggles(bool offroad) {

 void DeveloperPanelSP::showEvent(QShowEvent *event) {
  DeveloperPanel::showEvent(event);
-  AbstractControlSP::UpdateAllAdvancedControls();
  updateToggles(!uiState()->scene.started);
+  AbstractControlSP::UpdateAllAdvancedControls();
+  prebuiltToggle->showDescription();
 }
@@ -21,9 +21,6 @@ private:
  ParamControlSP *prebuiltToggle;
  Params params;
  ParamControlSP *showAdvancedControls;
-  bool is_development;
-  bool is_release;
-  bool is_tested;

 private slots:
  void updateToggles(bool offroad);
@@ -211,7 +211,7 @@ void DevicePanelSP::updateState() {
  toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));

  QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
+  if (timeoutValue == "0") {
    interactivityTimeout->setLabel("Default");
  } else {
    interactivityTimeout->setLabel(timeoutValue + "s");
@@ -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.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.h"
+
+LagdToggleSettings::LagdToggleSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  // lagd toggle
+  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
+  lagd_toggle_control->showDescription();
+  main_layout->addWidget(lagd_toggle_control);
+
+  int liveDelayMaxInt = 30;
+  std::string liveDelayBytes = params.get("LiveDelay");
+  if (!liveDelayBytes.empty()) {
+    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+      liveDelayBytes.size() / sizeof(capnp::word)));
+    auto event = msg.getRoot<cereal::Event>();
+    if (event.hasLiveDelay()) {
+      auto liveDelay = event.getLiveDelay();
+      float lateralDelay = liveDelay.getLateralDelay();
+      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
+    }
+  }
+  // optioncontrol for lagd 'off' state
+  delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
+                                     tr("The default software delay value is 0.2"),
+                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+
+  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
+    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+  });
+  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
+    delay_control->setVisible(!state);
+  });
+  delay_control->showDescription();
+  main_layout->addWidget(delay_control);
+}
+
+void LagdToggleSettings::refresh() {
+  // Update toggle descriptions
+  QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
+                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
+  bool lagdEnabled = params.getBool("LagdToggle");
+  if (lagdEnabled) {
+    std::string liveDelayBytes = params.get("LiveDelay");
+    if (!liveDelayBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+        liveDelayBytes.size() / sizeof(capnp::word)));
+      auto event = msg.getRoot<cereal::Event>();
+      if (event.hasLiveDelay()) {
+        auto liveDelay = event.getLiveDelay();
+        float lateralDelay = liveDelay.getLateralDelay();
+        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 2));
+      }
+    }
+  } else {
+    std::string carParamsBytes = params.get("CarParamsPersistent");
+    if (!carParamsBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
+        carParamsBytes.size() / sizeof(capnp::word)));
+      auto carParams = msg.getRoot<cereal::CarParams>();
+      float steerDelay = carParams.getSteerActuatorDelay();
+      float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+      float totalLag = steerDelay + softwareDelay;
+      desc += QString("<br><br><span style=\"color:#e0e0e0\">"
+                      "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
+           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+    }
+  }
+  lagd_toggle_control->setDescription(desc);
+  lagd_toggle_control->showDescription();
+
+  delay_control->setVisible(!params.getBool("LagdToggle"));
+  if (delay_control->isVisible()) {
+    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+    delay_control->showDescription();
+  }
+}
@@ -0,0 +1,26 @@
+/**
+ * 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/widgets/controls.h"
+
+class LagdToggleSettings : public QWidget {
+  Q_OBJECT
+public:
+  explicit LagdToggleSettings(QWidget *parent = nullptr);
+  void refresh();
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ParamControlSP *lagd_toggle_control = nullptr;
+  OptionControlSP *delay_control = nullptr;
+};
@@ -46,20 +46,41 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
  list->addItem(horizontal_line());
  list->addItem(vertical_space());

-  // Lane Change Settings
-  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"));
+
+  // Inline lagd toggle and lane change buttons
+  QHBoxLayout *inlineBtnLayout = new QHBoxLayout();
+  inlineBtnLayout->setSpacing(15);
+
+  lagdSettingsButton = new PushButtonSP(tr("Customize Live Delay"), 740);
+  lagdSettingsButton->setObjectName("lagd_btn");
+  connect(lagdSettingsButton, &QPushButton::clicked, [=]() {
+    lagdToggleSettings->refresh();
+    main_layout->setCurrentWidget(lagdToggleSettings);
+  });
+  inlineBtnLayout->addWidget(lagdSettingsButton);
+
+  lagdToggleSettings = new LagdToggleSettings(this);
+  connect(lagdToggleSettings, &LagdToggleSettings::backPress, [=]() {
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+
+  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"), 740);
  laneChangeSettingsButton->setObjectName("lane_change_btn");
  connect(laneChangeSettingsButton, &QPushButton::clicked, [=]() {
    sunnypilotScroller->setLastScrollPosition();
    main_layout->setCurrentWidget(laneChangeWidget);
  });
+  inlineBtnLayout->addWidget(laneChangeSettingsButton);

  laneChangeWidget = new LaneChangeSettings(this);
  connect(laneChangeWidget, &LaneChangeSettings::backPress, [=]() {
    sunnypilotScroller->restoreScrollPosition();
    main_layout->setCurrentWidget(sunnypilotScreen);
  });
-  list->addItem(laneChangeSettingsButton);
+
+  QWidget *inlineBtnWidget = new QWidget();
+  inlineBtnWidget->setLayout(inlineBtnLayout);
+  list->addItem(inlineBtnWidget);

  list->addItem(vertical_space(0));
  list->addItem(horizontal_line());
@@ -94,11 +115,16 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
  };
  QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);

+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, [=]() {
+    updateToggles(offroad);
+  });
+
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);

  main_layout->addWidget(sunnypilotScreen);
  main_layout->addWidget(madsWidget);
+  main_layout->addWidget(lagdToggleSettings);
  main_layout->addWidget(laneChangeWidget);

  setStyleSheet(R"(
@@ -151,6 +177,7 @@ void LateralPanel::updateToggles(bool _offroad) {
  madsSettingsButton->setEnabled(madsToggle->isToggled());

  blinkerPauseLateralSettings->refresh();
+  lagdToggleSettings->refresh();

  offroad = _offroad;
 }
@@ -14,6 +14,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
@@ -41,6 +42,8 @@ private:
  ParamControl *madsToggle;
  PushButtonSP *madsSettingsButton;
  MadsSettings *madsWidget = nullptr;
+  PushButtonSP *lagdSettingsButton = nullptr;
+  LagdToggleSettings *lagdToggleSettings = nullptr;
  PushButtonSP *laneChangeSettingsButton;
  LaneChangeSettings *laneChangeWidget = nullptr;
  NeuralNetworkLateralControl *nnlcToggle = nullptr;
@@ -1,25 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-
-SpeedLimitControl::SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : ExpandableToggleRow(param, title, desc, icon, parent) {
-
-  auto *slcFrame = new QFrame(this);
-  auto *slcFrameLayout = new QVBoxLayout();
-  slcFrame->setLayout(slcFrameLayout);
-  slcFrameLayout->setSpacing(0);
-  slcFrameLayout->setContentsMargins(0, 0, 0, 0);
-
-  slcSettings = new PushButtonSP(tr("Customize SLC"));
-  slcFrameLayout->addWidget(slcSettings);
-  connect(slcSettings, &QPushButton::clicked, [&]() {
-    emit slcSettingsButtonClicked();
-  });
-  addItem(slcFrame);
-}
@@ -1,77 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
-
-enum class SLCEngageType {
-  AUTO,
-  USER_CONFIRM,
-};
-
-inline const char *SLCEngageTypeText[]{
-  QT_TR_NOOP("Auto"),
-  QT_TR_NOOP("User Confirm")
-};
-
-enum class SLCOffsetType {
-  NONE,
-  FIXED,
-  PERCENT,
-};
-
-inline const char *SLCOffsetTypeText[]{
-  QT_TR_NOOP("None"),
-  QT_TR_NOOP("Fixed"),
-  QT_TR_NOOP("Percent"),
-};
-
-enum class SLCWarningType {
-  OFF,
-  DISPLAY,
-  CHIME,
-};
-
-inline const char *SLCWarningTypeText[]{
-  QT_TR_NOOP("Off"),
-  QT_TR_NOOP("Display"),
-  QT_TR_NOOP("Chime")
-};
-
-enum class SLCSourcePolicy {
-  CAR_ONLY,
-  MAP_ONLY,
-  CAR_FIRST,
-  MAP_FIRST,
-  COMBINED
-};
-
-inline const char *SLCSourcePolicyText[]{
-  QT_TR_NOOP("Car\nOnly"),
-  QT_TR_NOOP("Map\nOnly"),
-  QT_TR_NOOP("Car\nFirst"),
-  QT_TR_NOOP("Map\nFirst"),
-  QT_TR_NOOP("Combined\nData")
-};
-
-class SpeedLimitControl : public ExpandableToggleRow {
-  Q_OBJECT
-
-public:
-  SpeedLimitControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
-
-signals:
-  void slcSettingsButtonClicked();
-
-private:
-  Params params;
-  PushButtonSP *slcSettings;
-};
@@ -1,53 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h"
-
-SpeedLimitControlPolicy::SpeedLimitControlPolicy(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  main_layout->addSpacing(10);
-
-  ListWidgetSP *list = new ListWidgetSP(this, true);
-
-  std::vector<QString> slc_policy_texts{
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_ONLY)],
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_ONLY)],
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::CAR_FIRST)],
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::MAP_FIRST)],
-    SLCSourcePolicyText[static_cast<int>(SLCSourcePolicy::COMBINED)]
-  };
-  slc_policy = new ButtonParamControlSP(
-    "SpeedLimitControlPolicy",
-    tr("Speed Limit Source"),
-    "",
-    "",
-    slc_policy_texts,
-    250);
-  list->addItem(slc_policy);
-  connect(slc_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlPolicy::refresh);
-
-  refresh();
-  main_layout->addWidget(list);
-};
-
-void SpeedLimitControlPolicy::refresh() {
-  SLCSourcePolicy policy_param = static_cast<SLCSourcePolicy>(std::atoi(params.get("SpeedLimitControlPolicy").c_str()));
-  slc_policy->setDescription(sourceDescription(policy_param));
-}
-
-void SpeedLimitControlPolicy::showEvent(QShowEvent *event) {
-  refresh();
-  slc_policy->showDescription();
-}
@@ -1,56 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class SpeedLimitControlPolicy : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit SpeedLimitControlPolicy(QWidget *parent = nullptr);
-  void refresh();
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-private:
-  Params params;
-  ButtonParamControlSP *slc_policy;
-
-  static QString sourceDescription(SLCSourcePolicy type = SLCSourcePolicy::CAR_ONLY) {
-    QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
-    QString map_only = tr("⦿ Map Only: Use Speed Limit data only from OpenStreetMaps");
-    QString car_first = tr("⦿ Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps");
-    QString map_first = tr("⦿ Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car");
-    QString combined = tr("⦿ Combined: Use combined Speed Limit data from Car & OpenStreetMaps");
-
-    if (type == SLCSourcePolicy::CAR_ONLY) {
-      car_only = "<font color='white'><b>" + car_only + "</b></font>";
-    } else if (type == SLCSourcePolicy::MAP_ONLY) {
-      map_only = "<font color='white'><b>" + map_only + "</b></font>";
-    } else if (type == SLCSourcePolicy::CAR_FIRST) {
-      car_first = "<font color='white'><b>" + car_first + "</b></font>";
-    } else if (type == SLCSourcePolicy::MAP_FIRST) {
-      map_first = "<font color='white'><b>" + map_first + "</b></font>";
-    } else {
-      combined = "<font color='white'><b>" + combined + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3<br>%4<br>%5")
-        .arg(car_only)
-        .arg(map_only)
-        .arg(car_first)
-        .arg(map_first)
-        .arg(combined);
-  }
-};
@@ -1,142 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h"
-
-SpeedLimitControlSubpanel::SpeedLimitControlSubpanel(QWidget *parent) : QStackedWidget(parent) {
-  subPanelFrame = new QFrame();
-  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
-  subPanelLayout->setContentsMargins(0, 0, 0, 0);
-  subPanelLayout->setSpacing(0);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  subPanelLayout->addWidget(back, 0, Qt::AlignLeft);
-
-  subPanelLayout->addSpacing(20);
-
-  ListWidgetSP *list = new ListWidgetSP(this, true);
-
-  auto *slcBtnFrame = new QFrame(this);
-  auto *slcBtnFrameLayout = new QGridLayout();
-  slcBtnFrame->setLayout(slcBtnFrameLayout);
-  slcBtnFrameLayout->setContentsMargins(0, 40, 0, 40);
-  slcBtnFrameLayout->setSpacing(0);
-
-  slcWarningScreen = new SpeedLimitControlWarning(this);
-  slcPolicyScreen = new SpeedLimitControlPolicy(this);
-
-  slcWarningControl = new PushButtonSP(tr("Customize Warning"));
-  connect(slcWarningControl, &QPushButton::clicked, [&]() {
-    setCurrentWidget(slcWarningScreen);
-    slcWarningScreen->refresh();
-  });
-  connect(slcWarningScreen, &SpeedLimitControlWarning::backPress, [&]() {
-    setCurrentWidget(subPanelFrame);
-    showEvent(new QShowEvent());
-  });
-
-  slcSourceControl = new PushButtonSP(tr("Customize Source"));
-  connect(slcSourceControl, &QPushButton::clicked, [&]() {
-    setCurrentWidget(slcPolicyScreen);
-    slcPolicyScreen->refresh();
-  });
-  connect(slcPolicyScreen, &SpeedLimitControlPolicy::backPress, [&]() {
-    setCurrentWidget(subPanelFrame);
-    showEvent(new QShowEvent());
-  });
-
-  slcWarningControl->setFixedWidth(720);
-  slcSourceControl->setFixedWidth(720);
-  slcBtnFrameLayout->addWidget(slcWarningControl, 0, 0, Qt::AlignLeft);
-  slcBtnFrameLayout->addWidget(slcSourceControl, 0, 1, Qt::AlignRight);
-  list->addItem(slcBtnFrame);
-
-
-  std::vector<QString> slc_engage_texts{
-    SLCEngageTypeText[static_cast<int>(SLCEngageType::AUTO)],
-    SLCEngageTypeText[static_cast<int>(SLCEngageType::USER_CONFIRM)]
-  };
-  slc_engage_setting = new ButtonParamControlSP(
-    "SpeedLimitEngageType",
-    tr("Engage Mode"),
-    "",
-    "",
-    slc_engage_texts,
-    500);
-  slc_engage_setting->showDescription();
-  list->addItem(slc_engage_setting);
-
-  QFrame *offsetFrame = new QFrame(this);
-  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
-
-  std::vector<QString> slc_offset_texts{
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
-  };
-  slc_offset_setting = new ButtonParamControlSP(
-    "SpeedLimitOffsetType",
-    tr("Speed Limit Offset"),
-    "",
-    "",
-    slc_offset_texts,
-    500);
-
-  offsetLayout->addWidget(slc_offset_setting);
-
-  slc_offset = new OptionControlSP(
-    "SpeedLimitValueOffset",
-    "",
-    "",
-    "",
-    {-30, 30}
-    );
-  offsetLayout->addWidget(slc_offset);
-
-  list->addItem(offsetFrame);
-
-  connect(slc_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlSubpanel::refresh);
-  connect(slc_offset_setting, &ButtonParamControlSP::showDescriptionEvent, slc_offset, &OptionControlSP::showDescription);
-  connect(slc_engage_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
-  connect(slc_offset_setting, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlSubpanel::refresh);
-
-  refresh();
-  subPanelLayout->addWidget(list);
-  addWidget(subPanelFrame);
-  addWidget(slcWarningScreen);
-  addWidget(slcPolicyScreen);
-  setCurrentWidget(subPanelFrame);
-};
-
-void SpeedLimitControlSubpanel::refresh() {
-  SLCEngageType engage_type_param = static_cast<SLCEngageType>(std::atoi(params.get("SpeedLimitEngageType").c_str()));
-  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
-  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
-
-  slc_engage_setting->setDescription(engageModeDescription(engage_type_param));
-  slc_offset->setDescription(offsetDescription(offset_type_param));
-
-  if (offset_type_param == SLCOffsetType::PERCENT) {
-    offsetLabel += "%";
-  }
-
-  if (offset_type_param == SLCOffsetType::NONE) {
-    slc_offset->setVisible(false);
-  } else {
-    slc_offset->setVisible(true);
-    slc_offset->setLabel(offsetLabel);
-    slc_offset->showDescription();
-  }
-}
-
-void SpeedLimitControlSubpanel::showEvent(QShowEvent *event) {
-  refresh();
-  slc_engage_setting->showDescription();
-  slc_offset->showDescription();
-}
@@ -1,72 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_policy.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class SpeedLimitControlSubpanel : public QStackedWidget {
-  Q_OBJECT
-
-public:
-  SpeedLimitControlSubpanel(QWidget *parent = nullptr);
-  void refresh();
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-private:
-  Params params;
-  QFrame *subPanelFrame;
-  PushButtonSP *slcWarningControl;
-  PushButtonSP *slcSourceControl;
-  ButtonParamControlSP *slc_offset_setting;
-  OptionControlSP *slc_offset;
-  ButtonParamControlSP *slc_engage_setting;
-  SpeedLimitControlWarning *slcWarningScreen;
-  SpeedLimitControlPolicy *slcPolicyScreen;
-
-  static QString engageModeDescription(SLCEngageType type = SLCEngageType::AUTO) {
-    QString auto_str = tr("⦿ Auto: Automatic speed adjustment based on speed limit data");
-    QString user_str = tr("⦿ User Confirm: Asks driver to confirm speed adjustment based on speed limit data");
-
-    if (type == SLCEngageType::USER_CONFIRM) {
-      user_str = "<font color='white'><b>" + user_str + "</b></font>";
-    } else {
-      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2")
-        .arg(auto_str)
-        .arg(user_str);
-  }
-
-  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
-    QString none_str = tr("⦿ None: No Offset");
-    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
-    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
-
-    if (type == SLCOffsetType::FIXED) {
-      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
-    } else if (type == SLCOffsetType::PERCENT) {
-      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
-    } else {
-      none_str = "<font color='white'><b>" + none_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3")
-        .arg(none_str)
-        .arg(fixed_str)
-        .arg(percent_str);
-  }
-};
@@ -1,100 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_warning.h"
-
-SpeedLimitControlWarning::SpeedLimitControlWarning(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  main_layout->addSpacing(10);
-
-  ListWidgetSP *list = new ListWidgetSP(this, true);
-
-  std::vector<QString> slc_warning_texts{
-    SLCWarningTypeText[static_cast<int>(SLCWarningType::OFF)],
-    SLCWarningTypeText[static_cast<int>(SLCWarningType::DISPLAY)],
-    SLCWarningTypeText[static_cast<int>(SLCWarningType::CHIME)]
-  };
-  slc_warning_settings = new ButtonParamControlSP(
-    "SpeedLimitWarningType", tr("Speed Limit Warning"),
-    "",
-    "",
-    slc_warning_texts,
-    300);
-  list->addItem(slc_warning_settings);
-
-  QFrame *offsetFrame = new QFrame(this);
-  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
-
-  std::vector<QString> slc_warning_offset_texts{
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::NONE)],
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::FIXED)],
-    SLCOffsetTypeText[static_cast<int>(SLCOffsetType::PERCENT)]
-  };
-  slc_warning_offset_settings = new ButtonParamControlSP(
-    "SpeedLimitWarningOffsetType",
-    tr("Warning Offset"),
-    "",
-    "",
-    slc_warning_offset_texts,
-    300);
-  offsetLayout->addWidget(slc_warning_offset_settings);
-
-  slc_warning_offset = new OptionControlSP(
-    "SpeedLimitWarningValueOffset",
-    "",
-    "",
-    "",
-    {-30, 30}
-  );
-  slc_warning_offset->setFixedWidth(100);
-  offsetLayout->addWidget(slc_warning_offset);
-
-  list->addItem(offsetFrame);
-
-  connect(slc_warning_offset, &OptionControlSP::updateLabels, this, &SpeedLimitControlWarning::refresh);
-  connect(slc_warning_offset_settings, &ButtonParamControlSP::showDescriptionEvent, slc_warning_offset, &OptionControlSP::showDescription);
-  connect(slc_warning_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
-  connect(slc_warning_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitControlWarning::refresh);
-
-  refresh();
-  main_layout->addWidget(list);
-};
-
-void SpeedLimitControlWarning::refresh() {
-  SLCWarningType warning_type_param = static_cast<SLCWarningType>(std::atoi(params.get("SpeedLimitWarningType").c_str()));
-  SLCOffsetType offset_type_param = static_cast<SLCOffsetType>(std::atoi(params.get("SpeedLimitWarningOffsetType").c_str()));
-  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitWarningValueOffset"));
-
-  slc_warning_settings->setDescription(warningDescription(warning_type_param));
-  slc_warning_offset->setDescription(offsetDescription(offset_type_param));
-
-  if (offset_type_param == SLCOffsetType::PERCENT) {
-    offsetLabel += "%";
-  }
-
-  if (offset_type_param == SLCOffsetType::NONE) {
-    slc_warning_offset->setDisabled(true);
-    slc_warning_offset->setLabel(tr("N/A"));
-  } else {
-    slc_warning_offset->setDisabled(false);
-    slc_warning_offset->setLabel(offsetLabel);
-  }
-}
-
-void SpeedLimitControlWarning::showEvent(QShowEvent *event) {
-  refresh();
-  slc_warning_settings->showDescription();
-  slc_warning_offset->showDescription();
-}
@@ -1,71 +0,0 @@
-/*
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class SpeedLimitControlWarning : public QWidget {
-  Q_OBJECT
-
-public:
-  SpeedLimitControlWarning(QWidget *parent = nullptr);
-
-  void refresh();
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-private:
-  Params params;
-
-  ButtonParamControlSP *slc_warning_settings;
-  ButtonParamControlSP *slc_warning_offset_settings;
-  OptionControlSP *slc_warning_offset;
-
-  static QString warningDescription(SLCWarningType type = SLCWarningType::OFF) {
-    QString off_str = tr("⦿ Off: No Warning");
-    QString display_str = tr("⦿ Display: Speed Limit Sign will visually alert");
-    QString chime_str = tr("⦿ Chime: Speed Limit Sign will visually alert along with an audible chime");
-
-    if (type == SLCWarningType::DISPLAY) {
-      display_str = "<font color='white'><b>" + display_str + "</b></font>";
-    } else if (type == SLCWarningType::CHIME) {
-      chime_str = "<font color='white'><b>" + chime_str + "</b></font>";
-    } else {
-      off_str = "<font color='white'><b>" + off_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3")
-        .arg(off_str)
-        .arg(display_str)
-        .arg(chime_str);
-  }
-
-  static QString offsetDescription(SLCOffsetType type = SLCOffsetType::NONE) {
-    QString none_str = tr("⦿ None: No Offset");
-    QString fixed_str = tr("⦿ Fixed: Adds a fixed offset [Speed Limit + Offset]");
-    QString percent_str = tr("⦿ Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]");
-
-    if (type == SLCOffsetType::FIXED) {
-      fixed_str = "<font color='white'><b>" + fixed_str + "</b></font>";
-    } else if (type == SLCOffsetType::PERCENT) {
-      percent_str = "<font color='white'><b>" + percent_str + "</b></font>";
-    } else {
-      none_str = "<font color='white'><b>" + none_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br>%3")
-        .arg(none_str)
-        .arg(fixed_str)
-        .arg(percent_str);
-  }
-};
@@ -8,21 +8,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"

 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
-  setStyleSheet(R"(
-    #back_btn {
-      font-size: 50px;
-      margin: 0px;
-      padding: 15px;
-      border-width: 0;
-      border-radius: 30px;
-      color: #dddddd;
-      background-color: #393939;
-    }
-    #back_btn:pressed {
-      background-color:  #4a4a4a;
-    }
-  )");
-
  main_layout = new QStackedLayout(this);
  ListWidget *list = new ListWidget(this, false);

@@ -38,28 +23,7 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {

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

-  slcControl = new SpeedLimitControl(
-    "SpeedLimitControl",
-    tr("Speed Limit Control (SLC)"),
-    tr("When you engage ACC, you will be prompted to set the cruising speed to the speed limit of the road adjusted by the Offset and Source Policy specified, or the current driving speed. "
-      "The maximum cruising speed will always be the MAX set speed."),
-    "",
-    this);
-  list->addItem(slcControl);
-
-  connect(slcControl, &SpeedLimitControl::slcSettingsButtonClicked, [=]() {
-    cruisePanelScroller->setLastScrollPosition();
-    main_layout->setCurrentWidget(slcScreen);
-  });
-
-  slcScreen = new SpeedLimitControlSubpanel(this);
-  connect(slcScreen, &SpeedLimitControlSubpanel::backPress, [=]() {
-    cruisePanelScroller->restoreScrollPosition();
-    main_layout->setCurrentWidget(cruisePanelScreen);
-  });
-
  main_layout->addWidget(cruisePanelScreen);
-  main_layout->addWidget(slcScreen);
  main_layout->setCurrentWidget(cruisePanelScreen);
  refresh(offroad);
 }
@@ -8,11 +8,8 @@
 #pragma once

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/slc/speed_limit_control_subpanel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#include "selfdrive/ui/sunnypilot/ui.h"

 class LongitudinalPanel : public QWidget {
  Q_OBJECT
@@ -32,6 +29,4 @@ private:
  ScrollViewSP *cruisePanelScroller = nullptr;
  QWidget *cruisePanelScreen = nullptr;
  CustomAccIncrement *customAccIncrement = nullptr;
-  SpeedLimitControlSubpanel *slcScreen;
-  SpeedLimitControl *slcControl;
 };
@@ -103,40 +103,6 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
  list->addItem(policyFrame);

  list->addItem(horizontal_line());
-
-  // LiveDelay toggle
-  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
-  lagd_toggle_control->showDescription();
-  list->addItem(lagd_toggle_control);
-
-  // Software delay control
-  int liveDelayMaxInt = 30;
-  std::string liveDelayBytes = params.get("LiveDelay");
-  if (!liveDelayBytes.empty()) {
-    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-      liveDelayBytes.size() / sizeof(capnp::word)));
-    auto event = msg.getRoot<cereal::Event>();
-    if (event.hasLiveDelay()) {
-      auto liveDelay = event.getLiveDelay();
-      float lateralDelay = liveDelay.getLateralDelay();
-      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
-    }
-  }
-  delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                        "\nThe default software delay value is 0.2"),
-                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
-
-  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
-    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-  });
-  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
-    delay_control->setVisible(!state);
-  });
-  delay_control->showDescription();
-  list->addItem(delay_control);
 }

 QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
@@ -378,49 +344,6 @@ void ModelsPanel::updateLabels() {
  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
  currentModelLblBtn->setValue(GetActiveModelInternalName());

-  // Update lagdToggle description with current value
-  QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
-                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
-  bool lagdEnabled = params.getBool("LagdToggle");
-  if (lagdEnabled) {
-    std::string liveDelayBytes = params.get("LiveDelay");
-    if (!liveDelayBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
-        liveDelayBytes.size() / sizeof(capnp::word)));
-      auto event = msg.getRoot<cereal::Event>();
-      if (event.hasLiveDelay()) {
-        auto liveDelay = event.getLiveDelay();
-        float lateralDelay = liveDelay.getLateralDelay();
-        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
-                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 3));
-      }
-    }
-  } else {
-    std::string carParamsBytes = params.get("CarParamsPersistent");
-    if (!carParamsBytes.empty()) {
-      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
-        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
-        carParamsBytes.size() / sizeof(capnp::word)));
-      auto carParams = msg.getRoot<cereal::CarParams>();
-      float steerDelay = carParams.getSteerActuatorDelay();
-      float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-      float totalLag = steerDelay + softwareDelay;
-      desc += QString("<br><br><span style=\"color:#e0e0e0\">"
-                      "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
-           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
-                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
-                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
-    }
-  }
-  lagd_toggle_control->setDescription(desc);
-
-  delay_control->setVisible(!params.getBool("LagdToggle"));
-  if (delay_control->isVisible()) {
-    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-  }
-
  clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }

@@ -473,8 +396,4 @@ double ModelsPanel::calculateCacheSize() {
 }

 void ModelsPanel::showEvent(QShowEvent *event) {
-  lagd_toggle_control->showDescription();
-  if (delay_control->isVisible()) {
-    delay_control->showDescription();
-  }
 }
@@ -67,8 +67,6 @@ private:
  bool is_onroad = false;

  ButtonControlSP *currentModelLblBtn;
-  ParamControlSP *lagd_toggle_control;
-  OptionControlSP *delay_control;
  QProgressBar *supercomboProgressBar;
  QFrame *supercomboFrame;
  QProgressBar *navigationProgressBar;
@@ -66,14 +66,6 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
  });
  list->addItem(horizontal_line());

-  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
-  sunnylinkUploaderEnabledBtn = new ParamControlSP(
-    "EnableSunnylinkUploader",
-    tr("[Don't use] Enable sunnylink uploader"),
-    sunnylinkUploaderDesc,
-    "", nullptr, true);
-  list->addItem(sunnylinkUploaderEnabledBtn);
-
  connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
    // resets the description to the default one for the Easter egg
    sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
@@ -269,8 +261,6 @@ void SunnylinkPanel::updatePanel() {
  pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
  pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));

-  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
-
  if (!is_sunnylink_enabled) {
    sunnylinkEnabledBtn->setValue("");
    sponsorBtn->setValue("");
@@ -49,7 +49,6 @@ private:
  QString sunnylinkBtnDescription;
  PushButtonSP *restoreSettings;
  PushButtonSP *backupSettings;
-  ParamControlSP * sunnylinkUploaderEnabledBtn;

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

  list = new ListWidgetSP(this, false);

@@ -5,7 +5,6 @@ from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes


-@pytest.mark.skip("tmp disabled")
 class TestFeedbackd:
  def setup_method(self):
    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
@@ -972,6 +972,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1016,38 +1020,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">إلغاء</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2095,14 +2067,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2248,6 +2212,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -964,6 +964,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1008,38 +1012,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">Abbrechen</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2077,14 +2049,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2230,6 +2194,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -462,7 +462,7 @@ La calibración del retraso de la dirección está completa.</translation>
    </message>
    <message>
        <source>Select a language</source>
-        <translation type="unfinished">Seleccione el idioma</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>Wake-Up Behavior</source>
@@ -968,6 +968,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1012,38 +1016,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">Cancelar</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2079,14 +2051,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2232,6 +2196,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -964,6 +964,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1008,38 +1012,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">Annuler</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2075,14 +2047,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2228,6 +2192,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -966,6 +966,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1010,38 +1014,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">キャンセル</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2074,14 +2046,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2227,6 +2191,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。</translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -968,6 +968,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1012,38 +1016,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">Cancelar</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2079,14 +2051,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2232,6 +2196,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect.</translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -962,6 +962,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1006,38 +1010,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">ยกเลิก</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2070,14 +2042,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2223,6 +2187,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -962,6 +962,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1006,38 +1010,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2069,14 +2041,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2222,6 +2186,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -966,6 +966,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1010,38 +1014,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">取消</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2074,14 +2046,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2227,6 +2191,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。</translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -966,6 +966,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. The Current value is updated automatically when the vehicle is Onroad.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
@@ -1010,38 +1014,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation type="unfinished">取消</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching Latest Models</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Live Steer Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Actuator Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Software Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Total Delay:</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -2074,14 +2046,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>[Don&apos;t use] Enable sunnylink uploader</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>SunnylinkSponsorPopup</name>
@@ -2227,6 +2191,16 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。</translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
+
+Note that this feature is only compatible with select cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
@@ -37,7 +37,7 @@ class ExperimentalModeButton(Widget):
    self.params.put_bool("ExperimentalMode", self.experimental_mode)

  def _render(self, rect):
-    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.WHITE)
+    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))

    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
    self._draw_gradient_background(rect)
@@ -53,7 +53,7 @@ class ExperimentalModeButton(Widget):
    text_x = rect.x + self.horizontal_padding
    text_y = rect.y + rect.height / 2 - 45 // 2  # Center vertically

-    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK)
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))

    # Draw icon (right aligned)
    icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
@@ -63,4 +63,4 @@ class ExperimentalModeButton(Widget):
    # Draw current mode icon
    current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
    source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
-    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE)
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))
@@ -36,7 +36,7 @@ class PrimeWidget(Widget):
    font = gui_app.font(FontWeight.LIGHT)
    wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w)))
    text_size = measure_text_cached(font, wrapped_text, 56)
-    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE)
+    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255))

    # Features section
    features_y = desc_y + text_size.y + 50
@@ -34,7 +34,7 @@ class OsmMapData(BaseMapData):
    return float(self.mem_params.get("MapSpeedLimit") or 0.0)

  def get_current_road_name(self) -> str:
-    return str(self.mem_params.get("RoadName") or "")
+    return str(self.mem_params.get("RoadName"))

  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
    next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")
@@ -90,7 +90,7 @@ class MapdInstallManager:
    logging.error("Failed to download file after all retries")

  def get_installed_version(self) -> str:
-    return str(self._params.get("MapdVersion") or "")
+    return str(self._params.get("MapdVersion"))

  def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
    max_retries = 10
@@ -69,26 +69,24 @@ class ModelState(ModelStateBase):

    # img buffers are managed in openCL transform code
    self.numpy_inputs = {}
-    self.temporal_buffers = {}
-    self.temporal_idxs_map = {}

    for key, shape in self.model_runner.input_shapes.items():
      if key not in self.frames: # Managed by opencl
        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
-        # Temporal input: shape is [batch, history, features]
-        if len(shape) == 3 and shape[1] > 1:
-          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
-          feature_len = shape[2]
-          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
-          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
-          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
-            step = int(-buffer_history_len / shape[1])
-            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
-          elif shape[1] == 25:  # Split
-            skip = buffer_history_len // shape[1]
-            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
-          elif shape[1] == buffer_history_len:  # non20hz
-            self.temporal_idxs_map[key] = np.arange(buffer_history_len)
+
+    if self.model_runner.is_20hz_3d:  # split models
+      self.full_features_buffer = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN,  self.constants.FEATURE_LEN), dtype=np.float32)
+      self.full_desire = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.DESIRE_LEN), dtype=np.float32)
+      self.full_prev_desired_curv = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+      self.temporal_idxs = slice(-1-(self.constants.TEMPORAL_SKIP*(self.constants.INPUT_HISTORY_BUFFER_LEN-1)), None, self.constants.TEMPORAL_SKIP)
+    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:
+      self.full_features_buffer = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.FEATURE_LEN), dtype=np.float32)
+      self.full_desire = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.DESIRE_LEN), dtype=np.float32)
+      num_elements = self.numpy_inputs['features_buffer'].shape[1]
+      step_size = int(-100 / num_elements)
+      self.temporal_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
+                                  self.numpy_inputs['desire'].shape[2])

  @property
  def mlsim(self) -> bool:
@@ -100,16 +98,19 @@ class ModelState(ModelStateBase):
    inputs['desire'][0] = 0
    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
    self.prev_desire[:] = inputs['desire']
-    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
-    self.temporal_buffers['desire'][0,-1] = new_desire

-    # Roll buffer and assign based on desire.shape[1] value
-    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
-      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
-      self.numpy_inputs['desire'][:] = (
-        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
-    else:
-      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]
+    if self.model_runner.is_20hz_3d:  # split models
+      self.full_desire[0,:-1] = self.full_desire[0,1:]
+      self.full_desire[0,-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.full_desire.reshape((1, self.constants.INPUT_HISTORY_BUFFER_LEN, self.constants.TEMPORAL_SKIP, -1)).max(axis=2)
+    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
+      self.full_desire[:-1] = self.full_desire[1:]
+      self.full_desire[-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
+    else: # not 20hz
+      length = inputs['desire'].shape[0]
+      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
+      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]

    for key in self.numpy_inputs:
      if key in inputs and key not in ['desire']:
@@ -126,27 +127,42 @@ class ModelState(ModelStateBase):
    # Run model inference
    outputs = self.model_runner.run_model()

-    # Update features_buffer
-    self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
-    self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]
+    if self.model_runner.is_20hz_3d: # split models
+      self.full_features_buffer[0, :-1] = self.full_features_buffer[0, 1:]
+      self.full_features_buffer[0, -1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
+      self.full_features_buffer[:-1] = self.full_features_buffer[1:]
+      self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.temporal_idxs]
+    else: # not 20hz
+      feature_len = outputs['hidden_state'].shape[1]
+      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
+      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]

    if "desired_curvature" in outputs:
      input_name_prev = None
+
      if "prev_desired_curvs" in self.numpy_inputs.keys():
        input_name_prev = 'prev_desired_curvs'
      elif "prev_desired_curv" in self.numpy_inputs.keys():
        input_name_prev = 'prev_desired_curv'
-      if input_name_prev and input_name_prev in self.temporal_buffers:
+
+      if input_name_prev is not None:
        self.process_desired_curvature(outputs, input_name_prev)
    return outputs

  def process_desired_curvature(self, outputs, input_name_prev):
-    self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
-    self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
-    self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
-    if self.mlsim:
-      self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
+    if self.model_runner.is_20hz_3d:  # split models
+      self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
+      self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
+      self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+      if self.mlsim:
+        self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
+    else:
+      length = outputs['desired_curvature'][0].size
+      self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
+      self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]

  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
@@ -1,5 +1,6 @@
 import numpy as np
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.models.helpers import get_active_bundle


 def safe_exp(x, out=None):
@@ -24,6 +25,8 @@ def softmax(x, axis=-1):
 class Parser:
  def __init__(self, ignore_missing=False):
    self.ignore_missing = ignore_missing
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None

  def check_missing(self, outs, name):
    if name not in outs and not self.ignore_missing:
@@ -88,26 +91,28 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

-  def is_mhp(self, outs, name, shape):
-    if self.check_missing(outs, name):
-      return False
-    if outs[name].shape[1] == 2 * shape:
-      return False
-    return True
+  def _parse_plan_mhp(self, outs):
+    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
+                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))

  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
    if 'lead' in outs:
-      lead_mhp = self.is_mhp(outs, 'lead',
-                             SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
-      lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
-      lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
-        (SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
-      self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
+      if self.generation >= 12 and \
+         outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
+        self.parse_mdn('lead', outs, in_N=0, out_N=0,
+                       out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+      else:
+        self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
+                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
    if 'plan' in outs:
-      plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
-      plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
-                     out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+      if self.generation >= 12 and \
+        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+        self._parse_plan_mhp(outs)
+      elif self.generation >= 12:
+        self.parse_mdn('plan', outs, in_N=0, out_N=0,
+                       out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+      else:
+        self._parse_plan_mhp(outs)

  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
    if 'desired_curvature' in outs:
@@ -1,256 +0,0 @@
-import numpy as np
-import pytest
-from typing import Any
-
-import openpilot.sunnypilot.models.helpers as helpers
-import openpilot.sunnypilot.models.runners.helpers as runner_helpers
-import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
-
-ModelState = modeld_module.ModelState
-
-
-# These are the shapes extracted/loaded from the model onnx
-SHAPE_MODE_PARAMS = [
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
-  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
-  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
-]
-
-
-# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
-class DummyOverride:
-  def __init__(self, key: str, value: str) -> None:
-    self.key = key
-    self.value = value
-
-
-class DummyBundle:
-  def __init__(self) -> None:
-    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
-    self.generation = 10  # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
-
-
-class DummyModelRunner:
-  def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
-    self.input_shapes = input_shapes
-    self.constants = constants or type('C', (), {
-      'FULL_HISTORY_BUFFER_LEN': 100,
-      'FEATURE_LEN': 512,
-      'DESIRE_LEN': 8,
-      'PREV_DESIRED_CURV_LEN': 1,
-      'INPUT_HISTORY_BUFFER_LEN': 25,
-      'TEMPORAL_SKIP': 4,
-    })()
-    self.vision_input_names: list[str] = []
-    shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
-    if shape[1] == 25:
-      self.is_20hz = True
-    else:
-      self.is_20hz = False
-
-  # Minimal prepare/run methods so ModelState can be run without actually running the model
-  def prepare_inputs(self, imgs_cl, numpy_inputs, frames):
-    return None
-
-  def run_model(self):
-    return {
-      'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
-      'desired_curvature': np.zeros((1, 1), dtype=np.float32),
-    }
-
-
-@pytest.fixture
-def shapes(request):
-  return request.param
-
-
-@pytest.fixture
-def bundle() -> DummyBundle:
-  return DummyBundle()
-
-
-@pytest.fixture
-def runner(shapes) -> DummyModelRunner:
-  return DummyModelRunner(shapes)
-
-
-@pytest.fixture
-def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
-  monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
-  monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
-  monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
-  monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
-
-
-# These are expected shapes and indices based on the time the model was presented
-def get_expected_indices(shape, constants, mode, key=None):
-  if mode == 'split':
-    start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
-    arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
-    idxs = arr[start::constants.TEMPORAL_SKIP]
-    return idxs
-  elif mode == '20hz':
-    num_elements = shape[1]
-    step_size = int(-100 / num_elements)
-    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-    return idxs
-  elif mode == 'non20hz':
-    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
-      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
-    return None
-  return None
-
-
-@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
-def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
-  state = ModelState(None)
-  constants = DummyModelRunner(shapes).constants
-  for key in shapes:
-    buf = state.temporal_buffers.get(key, None)
-    idxs = state.temporal_idxs_map.get(key, None)
-    # Buffer shape logic
-    if mode == 'split':
-      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
-    elif mode == '20hz':
-      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
-    elif mode == 'non20hz':
-      if key == 'features_buffer':
-        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
-      else:
-        expected_shape = (1, shapes[key][1], shapes[key][2])
-      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
-
-    assert buf is not None, f"{key}: buffer not found"
-    assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
-    if expected_idxs is not None:
-      assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
-    else:
-      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
-
-
-def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
-  # This is what we compare the new dynamic logic to, to ensure it does the same thing
-  if mode == 'split':
-    if key == 'desire':
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1] = new_val
-      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
-    elif key == 'features_buffer':
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1] = new_val
-      return buf[0, idxs]
-    elif key == 'prev_desired_curv':
-      buf[0,:-1] = buf[0,1:]
-      buf[0,-1,:] = new_val
-      return buf[0, idxs]
-  elif mode == '20hz':
-    if key == 'desire':
-      buf[:-1] = buf[1:]
-      buf[-1] = new_val
-      reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
-      reshaped = buf.reshape(reshape_dims).max(axis=2)
-      # Slice to last shape[1] elements to match model input shape
-      input_len = reshaped.shape[1]
-      model_input_len = 25  # For 20hz mode, desire shape[1] is 25
-      if input_len > model_input_len:
-        reshaped = reshaped[:, -model_input_len:, :]
-      return reshaped
-    elif key == 'features_buffer':
-      buffer_history_len = buf.shape[1]
-      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
-      legacy_buf[:] = buf[0]
-      legacy_buf[:-1] = legacy_buf[1:]
-      legacy_buf[-1] = new_val
-      return legacy_buf[idxs]
-    elif key == 'prev_desired_curv':
-      buffer_history_len = buf.shape[1]
-      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
-      legacy_buf[:] = buf[0]
-      legacy_buf[:-1] = legacy_buf[1:]
-      legacy_buf[-1,:] = new_val
-      return legacy_buf[idxs]
-  elif mode == 'non20hz':
-    if key == 'desire':
-      length = new_val.shape[0]
-      buf[0,:-1,:length] = buf[0,1:,:length]
-      buf[0,-1,:length] = new_val[:length]
-      return buf[0]
-    elif key == 'features_buffer':
-      feature_len = new_val.shape[0]
-      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
-      buf[0,-1,:feature_len] = new_val[:feature_len]
-      return buf[0]
-    elif key == 'prev_desired_curv':
-      length = new_val.shape[0]
-      buf[0,:-length,0] = buf[0,length:,0]
-      buf[0,-length:,0] = new_val[:length]
-      return buf[0]
-  return None
-
-
-def dynamic_buffer_update(state, key, new_val, mode):
-  if key == 'desire':
-    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
-    state.temporal_buffers['desire'][0,-1] = new_val
-    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
-      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
-      return state.temporal_buffers['desire'][0].reshape(
-        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
-      ).max(axis=2)
-    else:
-      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
-
-  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
-  for k, tb in state.temporal_buffers.items():
-    if k in state.temporal_idxs_map:
-      continue
-    buf_len = tb.shape[1]
-    if k in state.numpy_inputs:
-      out_len = state.numpy_inputs[k].shape[1]
-      if out_len <= buf_len:
-        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
-      else:
-        state.temporal_idxs_map[k] = np.arange(buf_len)
-    else:
-      state.temporal_idxs_map[k] = np.arange(buf_len)
-
-  if key == 'features_buffer':
-    def run_model_stub():
-      return {
-        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
-      }
-    state.model_runner.run_model = run_model_stub
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs['features_buffer'][0]
-
-  if key == 'prev_desired_curv':
-    def run_model_stub():
-      return {
-        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
-        'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
-      }
-    state.model_runner.run_model = run_model_stub
-    state.run({}, {}, inputs, prepare_only=False)
-    return state.numpy_inputs['prev_desired_curv'][0]
-  return None
-
-
-@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
-@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
-def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
-  state = ModelState(None)
-  constants = DummyModelRunner(shapes).constants
-  buf = state.temporal_buffers.get(key, None)
-  idxs = state.temporal_idxs_map.get(key, None)
-  input_shape = shapes[key]
-  for step in range(20):    # multiple steps to ensure history is built up
-    new_val = np.full((input_shape[2],), step, dtype=np.float32)
-    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
-    actual = dynamic_buffer_update(state, key, new_val, mode)
-    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
-    if expected is not None and actual is not None and expected.shape != actual.shape:
-      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
-        expected = expected[-actual.shape[0]:]
-    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
@@ -114,7 +114,7 @@ class ModelCache:

 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v6.json"

  def __init__(self, params: Params):
    self.params = params
@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path

 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 9
-REQUIRED_MIN_SELECTOR_VERSION = 9
+CURRENT_SELECTOR_VERSION = 8
+REQUIRED_MIN_SELECTOR_VERSION = 8

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

@@ -83,7 +83,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny

  def _run_model(self) -> NumpyDict:
    """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy()
+    outputs = self.model_run(**self.inputs).numpy().flatten()
    return self._parse_outputs(outputs)

  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
@@ -1 +1 @@
-2ff2f49176a13bc7f856645d785b3b838a5c7ecf7f6cb37699fa0459ebf12453
+71c14a02af81857565e5fcffaaddb57a76fe80b283fe3292da830dbc92e211b7
@@ -4,10 +4,11 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from typing import Any

 from opendbc.car import structs
 from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
@@ -22,6 +23,22 @@ def log_fingerprint(CP: structs.CarParams) -> None:
    sentry.capture_fingerprint(CP.carFingerprint, CP.brand)


+def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                           params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    hyundai_longitudinal_tuning = params.get("HyundaiLongitudinalTuning")
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
+
+  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
+
+
 def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                                               params: Params = None, enabled: bool = False) -> None:
  if params is None:
@@ -47,15 +64,5 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  CP = CI.CP
  CP_SP = CI.CP_SP

+  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
  _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
-
-
-def initialize_params(params) -> list[dict[str, Any]]:
-  keys: list = []
-
-  # hyundai
-  keys.extend([
-    "HyundaiLongitudinalTuning"
-  ])
-
-  return [{k: params.get(k, return_default=True)} for k in keys]
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
discountchubbs	d9b2023f36	license	2025-08-11 10:42:15 -07:00
James Vecellio-Grant	56f3b795df	Merge branch 'master' into move-to-steering	2025-08-11 10:37:09 -07:00
discountchubbs	7fd30dabcd	Live delay in steering panel instead	2025-08-11 10:35:06 -07:00
discountchubbs	65f33a10fe	dynamic max	2025-08-11 09:18:24 -07:00
James Vecellio-Grant	ce6ea8f84b	Merge branch 'master' into models-stuff	2025-08-10 07:50:31 -07:00
James Vecellio-Grant	1e641ba96c	Merge branch 'master' into models-stuff	2025-08-09 22:04:57 -07:00
discountchubbs	990b3d4998	Handle decoding directly in ui bc why not	2025-08-09 19:00:25 -07:00