remove backup from param

refactor
lovely params
2026-08-03 12:59:25 +08:00 · 2025-08-23 20:41:43 -04:00 · 2025-08-23 20:40:23 -04:00 · 2025-08-23 20:11:27 -04:00 · 2025-08-23 20:05:29 -04:00 · 2025-07-25 22:30:58 -04:00
104 changed files with 1062 additions and 2657 deletions
@@ -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
@@ -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 +1,18 @@
 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 "Down To Ride (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}},
@@ -156,6 +156,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"sunnypilot_ui", {PERSISTENT, BOOL, "1"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -199,7 +200,7 @@ 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 +216,5 @@ 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, ""}},
 };
@@ -14,7 +14,8 @@ 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_rate = 1.0 / rate
    self.speed = 0.0
@@ -40,10 +41,6 @@ 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):
    self.speed = speed
    self.p = float(error) * self.k_p
@@ -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()
@@ -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
+# 325 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>|||
@@ -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"
@@ -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)
@@ -41,11 +40,6 @@ 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):
    pid_log = log.ControlsState.LateralTorqueState.new_message()
@@ -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
@@ -80,18 +77,17 @@ class LatControlTorque(LatControl):
                                          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,
+      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))
@@ -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 sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
+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 +94,23 @@ 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)
+    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
+      self.parse_mdn('lead', outs, in_N=0, out_N=0,
+                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    else:
+      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))
+    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
+      self.parse_mdn('plan', outs, in_N=0, out_N=0,
+                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    else:
+      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 '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
+543bd2347fa35f8300478a3893fdd0a03a7c1fe6
@@ -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;
@@ -4,6 +4,9 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import toggle_item
 from openpilot.system.ui.widgets.scroller import Scroller

+if Params().get_bool("sunnypilot_ui"):
+  from openpilot.system.ui.sunnypilot.lib.list_view import toggle_item_sp as toggle_item
+
 # Description constants
 DESCRIPTIONS = {
  'enable_adb': (
@@ -3,6 +3,9 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
 from openpilot.system.ui.widgets.scroller import Scroller

+if Params().get_bool("sunnypilot_ui"):
+  from openpilot.system.ui.sunnypilot.lib.list_view import toggle_item_sp as toggle_item
+
 # Description constants
 DESCRIPTIONS = {
  "OpenpilotEnabledToggle": (
@@ -23,6 +26,10 @@ 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 +88,12 @@ 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"
      ),
@@ -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}")

@@ -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"),
@@ -52,10 +52,6 @@ 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 = [
@@ -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;
 };
@@ -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>
@@ -974,6 +974,10 @@ The default software delay value is 0.2</source>
        <source>Default</source>
        <translation>기본값</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>이 기능을 켜면 차량이 스스로 핸들 반응 속도를 학습하고 맞춥니다. 끄면 고정된 핸들 반응 속도를 사용합니다. 이 기능을 켜두는 것이 기본 openpilot 경험을 제공합니다. 차량이 주행 중일 때 현재 값이 자동으로 업데이트됩니다.</translation>
+    </message>
    <message>
        <source>Model download has started in the background.</source>
        <translation>모델 다운로드가 백그라운드에서 시작되었습니다.</translation>
@@ -1018,38 +1022,6 @@ The default software delay value is 0.2</source>
        <source>Cancel</source>
        <translation>취소</translation>
    </message>
-    <message>
-        <source>Refresh Model List</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REFRESH</source>
-        <translation type="unfinished">새로 고침</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>
@@ -2088,14 +2060,6 @@ Warning: You are on a metered connection!</source>
        <source>Not Paired</source>
        <translation>페어링되지 않음</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>
@@ -2241,6 +2205,18 @@ 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>운전 중 마이크 오디오를 녹음하고 저장합니다. 이 오디오는 comma connect의 대시캠 영상에 포함됩니다.</translation>
    </message>
+    <message>
+        <source>Record Audio Feedback with LKAS button</source>
+        <translation>LKAS 버튼으로 오디오 피드백 녹음</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>LKAS 버튼을 눌러 openpilot 팀과 주행 피드백을 녹음하고 공유하세요. 이 기능을 비활성화하면, 해당 버튼은 북마크 버튼 역할을 합니다. 이 이벤트는 comma connect에서 강조되며, 해당 구간 영상은 기기 저장소에 보존됩니다.
+
+참고: 이 기능은 일부 차량에서만 호환됩니다.</translation>
+    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation>sunnypilot 사용</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>
@@ -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 +91,26 @@ 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.IDX_N * SplitModelConstants.PLAN_WIDTH:
+        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"
@@ -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
+cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb
@@ -7,10 +7,7 @@ See the LICENSE.md file in the root directory for more details.

 from cereal import messaging, custom
 from opendbc.car import structs
-from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_controller import SpeedLimitController
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle

 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
@@ -18,11 +15,8 @@ DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimen

 class LongitudinalPlannerSP:
  def __init__(self, CP: structs.CarParams, mpc):
-    self.events_sp = EventsSP()
-
    self.dec = DynamicExperimentalController(CP, mpc)
    self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
-    self.slc = SpeedLimitController(CP)

  @property
  def mlsim(self) -> bool:
@@ -35,17 +29,6 @@ class LongitudinalPlannerSP:

    return self.dec.mode()

-  def update_v_cruise(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> float:
-    self.events_sp.clear()
-
-    self.slc.update(sm, v_ego, a_ego, v_cruise, self.events_sp)
-
-    v_cruise_slc = self.slc.speed_limit_offseted if self.slc.is_active else V_CRUISE_UNSET
-
-    v_cruise_final = min(v_cruise, v_cruise_slc)
-
-    return v_cruise_final
-
  def update(self, sm: messaging.SubMaster) -> None:
    self.dec.update(sm)

@@ -55,7 +38,6 @@ class LongitudinalPlannerSP:
    plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])

    longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
-    longitudinalPlanSP.events = self.events_sp.to_msg()

    # Dynamic Experimental Control
    dec = longitudinalPlanSP.dec
@@ -63,13 +45,4 @@ class LongitudinalPlannerSP:
    dec.enabled = self.dec.enabled()
    dec.active = self.dec.active()

-    # Speed Limit Control
-    slc = longitudinalPlanSP.slc
-    slc.state = self.slc.state
-    slc.enabled = self.slc.is_enabled
-    slc.active = self.slc.is_active
-    slc.speedLimit = float(self.slc.speed_limit)
-    slc.speedLimitOffset = float(self.slc.speed_limit_offset)
-    slc.distToSpeedLimit = float(self.slc.distance)
-
    pm.send('longitudinalPlanSP', plan_sp_send)
@@ -1,19 +0,0 @@
-from cereal import custom
-
-DEBUG = True
-PARAMS_UPDATE_PERIOD = 2.  # secs. Time between parameter updates.
-TEMP_INACTIVE_GUARD_PERIOD = 1.  # secs. Time to wait after activation before considering temp deactivation signal.
-
-# Lookup table for speed limit percent offset depending on speed.
-LIMIT_PERC_OFFSET_V = [0.1, 0.05, 0.038]  # 55, 105, 135 km/h
-LIMIT_PERC_OFFSET_BP = [13.9, 27.8, 36.1]  # 50, 100, 130 km/h
-
-# Constants for Limit controllers.
-LIMIT_ADAPT_ACC = -1.  # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
-LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
-LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
-LIMIT_MIN_SPEED = 8.33  # m/s, Minimum speed limit to provide as solution on limit controllers.
-LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and current speed for adapting state.
-LIMIT_MAX_MAP_DATA_AGE = 10.  # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
-
-SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
@@ -1,25 +0,0 @@
-from enum import IntEnum
-
-
-class Source(IntEnum):
-  none = 0
-  car_state = 1
-  map_data = 2
-
-
-class Policy(IntEnum):
-  map_data_only = 0
-  car_state_only = 1
-  map_data_priority = 2
-  car_state_priority = 3
-  combined = 4
-
-
-class Engage(IntEnum):
-  auto = 0
-
-
-class OffsetType(IntEnum):
-  default = 0
-  fixed = 1
-  percentage = 2
@@ -1,19 +0,0 @@
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import DEBUG, SpeedLimitControlState
-from openpilot.common.swaglog import cloudlog
-
-
-def debug(msg):
-  if not DEBUG:
-    return
-  cloudlog.debug(msg)
-
-
-def description_for_state(speed_limit_control_state):
-  if speed_limit_control_state == SpeedLimitControlState.inactive:
-    return 'INACTIVE'
-  if speed_limit_control_state == SpeedLimitControlState.tempInactive:
-    return 'TEMP_INACTIVE'
-  if speed_limit_control_state == SpeedLimitControlState.adapting:
-    return 'ADAPTING'
-  if speed_limit_control_state == SpeedLimitControlState.active:
-    return 'ACTIVE'
@@ -1,284 +0,0 @@
-import numpy as np
-import time
-
-from cereal import messaging, custom
-from openpilot.common.constants import CV
-from openpilot.common.params import Params
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \
-  PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, LIMIT_SPEED_OFFSET_TH, SpeedLimitControlState
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy, Engage, OffsetType
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import description_for_state, debug
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-from openpilot.selfdrive.modeld.constants import ModelConstants
-
-EventNameSP = custom.OnroadEventSP.EventName
-
-ACTIVE_STATES = (SpeedLimitControlState.active, SpeedLimitControlState.adapting)
-ENABLED_STATES = (SpeedLimitControlState.preActive, SpeedLimitControlState.tempInactive, *ACTIVE_STATES)
-
-
-class SpeedLimitController:
-  _speed_limit: float
-  _distance: float
-  _source: Source
-  _v_ego: float
-  _a_ego: float
-  _v_offset: float
-
-  def __init__(self, CP):
-    self.params = Params()
-    self._CP = CP
-    self._policy = self.params.get("SpeedLimitControlPolicy", return_default=True)
-    self._resolver = SpeedLimitResolver(self._policy)
-    self._last_params_update = 0.0
-    self._last_op_engaged_time = 0.0
-    self._is_metric = self.params.get_bool("IsMetric")
-    self._enabled = self.params.get_bool("SpeedLimitControl")
-    self._op_engaged = False
-    self._op_engaged_prev = False
-    self._v_ego = 0.
-    self._a_ego = 0.
-    self._v_offset = 0.
-    self._v_cruise_setpoint = 0.
-    self._v_cruise_setpoint_prev = 0.
-    self._v_cruise_setpoint_changed = False
-    self._speed_limit = 0.
-    self._speed_limit_prev = 0.
-    self._speed_limit_changed = False
-    self._distance = 0.
-    self._source = Source.none
-    self._state = SpeedLimitControlState.inactive
-    self._state_prev = SpeedLimitControlState.inactive
-    self._gas_pressed = False
-    self._pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
-
-    self._offset_type = OffsetType(self.params.get("SpeedLimitWarningValueOffset", return_default=True))
-    self._offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
-    self._warning_type = self.params.get("SpeedLimitWarningType", return_default=True)
-    self._warning_offset_type = OffsetType(self.params.get("SpeedLimitWarningOffsetType", return_default=True))
-    self._warning_offset_value = self.params.get("SpeedLimitWarningValueOffset", return_default=True)
-    self._engage_type = self._read_engage_type_param()
-    self._current_time = 0.
-    self._v_cruise_rounded = 0.
-    self._v_cruise_prev_rounded = 0.
-    self._speed_limit_offsetted_rounded = 0.
-    self._speed_limit_warning_offsetted_rounded = 0.
-    self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
-
-    # Mapping functions to state transitions
-    self.state_transition_strategy = {
-      # Transition functions for each state
-      SpeedLimitControlState.inactive: self.transition_state_from_inactive,
-      SpeedLimitControlState.tempInactive: self.transition_state_from_temp_inactive,
-      SpeedLimitControlState.adapting: self.transition_state_from_adapting,
-      SpeedLimitControlState.active: self.transition_state_from_active,
-      SpeedLimitControlState.preActive: self.transition_state_from_pre_active,
-    }
-
-    # FIXME-SP: unused?
-    # Solution functions mapped to respective states
-    self.acceleration_solutions = {
-      # Solution functions for each state
-      SpeedLimitControlState.tempInactive: self.get_current_acceleration_as_target,
-      SpeedLimitControlState.inactive: self.get_current_acceleration_as_target,
-      SpeedLimitControlState.adapting: self.get_adapting_state_target_acceleration,
-      SpeedLimitControlState.active: self.get_active_state_target_acceleration,
-      SpeedLimitControlState.preActive: self.get_current_acceleration_as_target,
-    }
-
-  @property
-  def state(self) -> SpeedLimitControlState:
-    return self._state
-
-  @state.setter
-  def state(self, value) -> None:
-    if value != self._state:
-      debug(f'Speed Limit Controller state: {description_for_state(value)}')
-
-      if value == SpeedLimitControlState.tempInactive:
-        # Reset previous speed limit to current value as to prevent going out of tempInactive in
-        # a single cycle when the speed limit changes at the same time the user has temporarily deactivated it.
-        self._speed_limit_prev = self._speed_limit
-
-    self._state = value
-
-  @property
-  def is_enabled(self) -> bool:
-    return self.state in ENABLED_STATES and self._enabled
-
-  @property
-  def is_active(self) -> bool:
-    return self.state in ACTIVE_STATES and self._enabled
-
-  @property
-  def speed_limit_offseted(self) -> float:
-    return self._speed_limit + self.speed_limit_offset
-
-  @property
-  def speed_limit_offset(self) -> float:
-    return self._get_offset(self._offset_type, self._offset_value)
-
-  @property
-  def speed_limit_warning_offset(self) -> float:
-    return self._get_offset(self._warning_offset_type, self._warning_offset_value)
-
-  @property
-  def speed_limit(self) -> float:
-    return self._speed_limit
-
-  @property
-  def distance(self) -> float:
-    return self._distance
-
-  @property
-  def source(self) -> Source:
-    return self._source
-
-  def _get_offset(self, offset_type: OffsetType, offset_value: int) -> float:
-    if offset_type == OffsetType.default:
-      return float(np.interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit)
-    elif offset_type == OffsetType.fixed:
-      return offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
-    elif offset_type == OffsetType.percentage:
-      return offset_value * 0.01 * self._speed_limit
-    else:
-      raise NotImplementedError("Offset not supported")
-
-  def _update_v_cruise_setpoint_prev(self) -> None:
-    self._v_cruise_setpoint_prev = self._v_cruise_setpoint
-
-  def _update_params(self) -> None:
-    if self._current_time > self._last_params_update + PARAMS_UPDATE_PERIOD:
-      self._enabled = self.params.get_bool("SpeedLimitControl")
-      self._offset_type = OffsetType(self.params.get("SpeedLimitWarningValueOffset", return_default=True))
-      self._offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
-      self._warning_type = self.params.get("SpeedLimitWarningType", return_default=True)
-      self._warning_offset_type = OffsetType(self.params.get("SpeedLimitWarningOffsetType", return_default=True))
-      self._warning_offset_value = self.params.get("SpeedLimitWarningValueOffset", return_default=True)
-      self._policy = Policy(self.params.get("SpeedLimitControlPolicy", return_default=True))
-      self._is_metric = self.params.get_bool("IsMetric")
-      self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
-      self._resolver.change_policy(self._policy)
-      self._engage_type = self._read_engage_type_param()
-
-      self._last_params_update = self._current_time
-
-  def _read_engage_type_param(self) -> Engage:
-    if self._pcm_cruise_op_long:
-      return Engage.auto
-
-    return Engage.auto
-
-  def _update_calculations(self) -> None:
-    # Update current velocity offset (error)
-    self._v_offset = self.speed_limit_offseted - self._v_ego
-
-    # Track the time op becomes active to prevent going to tempInactive right away after
-    # op enabling since controlsd will change the cruise speed every time on enabling and this will
-    # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise
-    # speed.
-    if not self._op_engaged_prev and self._op_engaged:
-      self._last_op_engaged_time = self._current_time
-
-    # Update change tracking variables
-    self._speed_limit_changed = self._speed_limit != self._speed_limit_prev
-    self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev
-    self._speed_limit_prev = self._speed_limit
-    self._update_v_cruise_setpoint_prev()  # always for Engage.auto
-    self._op_engaged_prev = self._op_engaged
-
-    self._v_cruise_rounded = int(round(self._v_cruise_setpoint * self._speed_factor))
-    self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * self._speed_factor))
-    self._speed_limit_offsetted_rounded = 0 if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_offset) * self._speed_factor))
-    self._speed_limit_warning_offsetted_rounded = 0 if self._speed_limit == 0 else \
-                                                  int(round((self._speed_limit + self.speed_limit_warning_offset) * self._speed_factor))
-
-  def transition_state_from_inactive(self) -> None:
-    """ Make state transition from inactive state """
-    if self._engage_type == Engage.auto:
-      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
-        self.state = SpeedLimitControlState.adapting
-      else:
-        self.state = SpeedLimitControlState.active
-
-  def transition_state_from_temp_inactive(self) -> None:
-    """ Make state transition from temporary inactive state """
-    if self._speed_limit_changed:
-      if self._engage_type == Engage.auto:
-        self.state = SpeedLimitControlState.inactive
-
-  def transition_state_from_pre_active(self) -> None:
-    """ Make state transition from preActive state """
-
-  def transition_state_from_adapting(self) -> None:
-    """ Make state transition from adapting state """
-    if self._v_offset >= LIMIT_SPEED_OFFSET_TH:
-      self.state = SpeedLimitControlState.active
-
-  def transition_state_from_active(self) -> None:
-    """ Make state transition from active state """
-    if self._engage_type == Engage.auto:
-      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
-        self.state = SpeedLimitControlState.adapting
-
-  def _state_transition(self) -> None:
-    self._state_prev = self._state
-
-    # In any case, if op is disabled, or speed limit control is disabled or no valid speed limit
-    # or gas is pressed, deactivate.
-    if not self._op_engaged or not self._enabled or self._speed_limit == 0:
-      self.state = SpeedLimitControlState.inactive
-      return
-
-    # In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed.
-    # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations
-    # due to controlsd logic changing cruise setpoint when going active.
-    if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \
-          self._current_time > (self._last_op_engaged_time + TEMP_INACTIVE_GUARD_PERIOD):
-      self.state = SpeedLimitControlState.tempInactive
-      return
-
-    self.state_transition_strategy[self.state]()
-
-    self._update_v_cruise_setpoint_prev()  # always for Engage.auto
-
-  def get_current_acceleration_as_target(self) -> float:
-    """ When state is inactive or tempInactive, preserve current acceleration """
-    return self._a_ego
-
-  def get_adapting_state_target_acceleration(self) -> float:
-    """ In adapting state, calculate target acceleration based on speed limit and current velocity """
-    if self.distance > 0:
-      return (self.speed_limit_offseted ** 2 - self._v_ego ** 2) / (2. * self.distance)
-
-    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
-
-  def get_active_state_target_acceleration(self) -> float:
-    """ In active state, aim to keep speed constant around control time horizon """
-    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
-
-  def _update_events(self, events_sp: EventsSP) -> None:
-    if self.is_active:
-      if self._engage_type == Engage.auto:
-        if self._state_prev not in ACTIVE_STATES:
-          events_sp.add(EventNameSP.speedLimitActive)
-        elif self._speed_limit_changed != 0:
-          events_sp.add(EventNameSP.speedLimitValueChange)
-
-  def update(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise_setpoint: float, events_sp: EventsSP) -> None:
-    _car_state = sm['carState']
-    self._op_engaged = sm['carControl'].longActive
-    self._v_ego = v_ego
-    self._a_ego = a_ego
-    self._v_cruise_setpoint = v_cruise_setpoint if not np.isnan(v_cruise_setpoint) else 0.0
-    self._gas_pressed = _car_state.gasPressed
-    self._current_time = time.monotonic()
-
-    self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm)
-
-    self._update_params()
-    self._update_calculations()
-    self._state_transition()
-    self._update_events(events_sp)
@@ -1,119 +0,0 @@
-import time
-import numpy as np
-
-from cereal import messaging
-from openpilot.common.gps import get_gps_location_service
-from openpilot.common.params import Params
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import debug
-
-
-class SpeedLimitResolver:
-  _limit_solutions: dict[Source, float]  # Store for speed limit solutions from different sources
-  _distance_solutions: dict[Source, float]  # Store for distance to current speed limit start for different sources
-  _v_ego: float
-  _current_speed_limit: float
-
-  def __init__(self, policy: Policy):
-    self._gps_location_service = get_gps_location_service(Params())
-    self._limit_solutions = {}
-    self._distance_solutions = {}
-
-    self._policy = policy
-    self._policy_to_sources_map = {
-      Policy.car_state_only: [Source.car_state],
-      Policy.car_state_priority: [Source.car_state, Source.map_data],
-      Policy.map_data_priority: [Source.map_data, Source.car_state],
-      Policy.map_data_only: [Source.map_data],
-      Policy.combined: [Source.car_state, Source.map_data],
-    }
-    for source in Source:
-      self._reset_limit_sources(source)
-
-  def change_policy(self, policy: Policy) -> None:
-    self._policy = policy
-
-  def _reset_limit_sources(self, source: Source) -> None:
-    self._limit_solutions[source] = 0.
-    self._distance_solutions[source] = 0.
-
-  def resolve(self, v_ego: float, current_speed_limit: float, sm: messaging.SubMaster) -> tuple[float, float, Source]:
-    self._v_ego = v_ego
-    self._current_speed_limit = current_speed_limit
-
-    self._resolve_limit_sources(sm)
-    return self._consolidate()
-
-  def _resolve_limit_sources(self, sm: messaging.SubMaster) -> None:
-    """Get limit solutions from each data source"""
-    self._get_from_car_state(sm)
-    self._get_from_map_data(sm)
-
-  def _get_from_car_state(self, sm: messaging.SubMaster) -> None:
-    self._reset_limit_sources(Source.car_state)
-    self._limit_solutions[Source.car_state] = sm['carStateSP'].speedLimit
-    self._distance_solutions[Source.car_state] = 0.
-
-  def _get_from_map_data(self, sm: messaging.SubMaster) -> None:
-    self._reset_limit_sources(Source.map_data)
-    self._process_map_data(sm)
-
-  def _process_map_data(self, sm: messaging.SubMaster) -> None:
-    gps_data = sm[self._gps_location_service]
-    map_data = sm['liveMapDataSP']
-
-    gps_fix_age = time.monotonic() - gps_data.unixTimestampMillis * 1e-3
-    if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
-      debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}')
-      return
-
-    speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
-    next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
-
-    self._calculate_map_data_limits(sm, speed_limit, next_speed_limit)
-
-  def _calculate_map_data_limits(self, sm: messaging.SubMaster, speed_limit: float, next_speed_limit: float) -> None:
-    gps_data = sm[self._gps_location_service]
-    map_data = sm['liveMapDataSP']
-
-    distance_since_fix = self._v_ego * (time.monotonic() - gps_data.unixTimestampMillis * 1e-3)
-    distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
-
-    self._limit_solutions[Source.map_data] = speed_limit
-    self._distance_solutions[Source.map_data] = 0.
-
-    if 0. < next_speed_limit < self._v_ego:
-      adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC
-      adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
-
-      if distance_to_speed_limit_ahead <= adapt_distance:
-        self._limit_solutions[Source.map_data] = next_speed_limit
-        self._distance_solutions[Source.map_data] = distance_to_speed_limit_ahead
-
-  def _consolidate(self) -> tuple[float, float, Source]:
-    source = self._get_source_solution_according_to_policy()
-    self.speed_limit = self._limit_solutions[source] if source else 0.
-    self.distance = self._distance_solutions[source] if source else 0.
-    self.source = source or Source.none
-
-    debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}')
-    return self.speed_limit, self.distance, self.source
-
-  def _get_source_solution_according_to_policy(self) -> Source | None:
-    sources_for_policy = self._policy_to_sources_map[self._policy]
-
-    if self._policy != Policy.combined:
-      # They are ordered in the order of preference, so we pick the first that's non zero
-      for source in sources_for_policy:
-        if self._limit_solutions[source] > 0.:
-          return Source(source)
-
-    limits = np.array([self._limit_solutions[source] for source in sources_for_policy], dtype=float)
-    sources = np.array([source.value for source in sources_for_policy], dtype=int)
-
-    if len(limits) > 0:
-      min_idx = np.argmin(limits)
-      return Source(sources[min_idx])
-
-    return None
@@ -1,58 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from cereal import custom
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-
-EventNameSP = custom.OnroadEventSP.EventName
-State = custom.LongitudinalPlanSP.SpeedLimitControlState
-
-ACTIVE_STATES = (State.active, State.adapting)
-ENABLED_STATES = (State.preActive, State.tempInactive, *ACTIVE_STATES)
-
-
-class StateMachine:
-  def __init__(self):
-    self.state = State.inactive
-
-  def update(self, events_sp: EventsSP) -> tuple[bool, bool]:
-    # INACTIVE
-    if self.state == State.inactive:
-      if events_sp.has(EventNameSP.speedLimitAdapting):
-        self.state = State.adapting
-      elif events_sp.has(EventNameSP.speedLimitActive):
-        self.state = State.active
-
-    # ACTIVE
-    elif self.state == State.active:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitUserCancel):
-        self.state = State.tempInactive
-      elif events_sp.has(EventNameSP.speedLimitAdapting):
-        self.state = State.adapting
-
-    # ADAPTING
-    elif self.state == State.adapting:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitUserCancel):
-        self.state = State.tempInactive
-      elif events_sp.has(EventNameSP.speedLimitReached):
-        self.state = State.active
-
-    # TEMP INACTIVE
-    elif self.state == State.tempInactive:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitValueChange):
-        # When speed limit changes, reactivate
-        self.state = State.inactive
-
-    enabled = self.state in ENABLED_STATES
-    active = self.state in ACTIVE_STATES
-
-    return enabled, active
@@ -1,130 +0,0 @@
-import random
-import time
-
-import pytest
-from pytest_mock import MockerFixture
-
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE
-
-# from selfdrive.controls.lib.speed_limit_controller_tbd import SpeedLimitResolver as OriginalSpeedLimitResolver
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver as RefactoredSpeedLimitResolver
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
-
-
-def create_mock(properties, mocker: MockerFixture):
-  mock = mocker.MagicMock()
-  for _property, value in properties.items():
-    setattr(mock, _property, value)
-  return mock
-
-
-def setup_sm_mock(mocker: MockerFixture):
-  cruise_speed_limit = random.uniform(0, 120)
-  live_map_data_limit = random.uniform(0, 120)
-
-  car_state = create_mock({
-    'gasPressed': False,
-    'brakePressed': False,
-    'standstill': False,
-  }, mocker)
-  car_state_sp = create_mock({
-    'speedLimit': cruise_speed_limit,
-  }, mocker)
-  live_map_data = create_mock({
-    'speedLimit': live_map_data_limit,
-    'speedLimitValid': True,
-    'speedLimitAhead': 0.,
-    'speedLimitAheadValid': 0.,
-    'speedLimitAheadDistance': 0.,
-  }, mocker)
-  gps_data = create_mock({
-    'unixTimestampMillis': time.monotonic() * 1e3,
-  }, mocker)
-  sm_mock = mocker.MagicMock()
-  sm_mock.__getitem__.side_effect = lambda key: {
-    'carState': car_state,
-    'liveMapDataSP': live_map_data,
-    'carStateSP': car_state_sp,
-    'gpsLocation': gps_data,
-  }[key]
-  return sm_mock
-
-
-parametrized_policies = pytest.mark.parametrize(
-  "policy, sm_key, function_key", [
-    (Policy.car_state_only, 'carStateSP', 'car_state'),
-    (Policy.car_state_priority, 'carStateSP', 'car_state'),
-    (Policy.map_data_only, 'liveMapDataSP', 'map_data'),
-    (Policy.map_data_priority, 'liveMapDataSP', 'map_data'),
-  ],
-  ids=lambda val: val.name if hasattr(val, 'name') else str(val)
-)
-
-
-@pytest.mark.parametrize("resolver_class", [RefactoredSpeedLimitResolver], ids=["Refactored"])
-class TestSpeedLimitResolverValidation:
-
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_initial_state(self, resolver_class, policy):
-    resolver = resolver_class(policy)
-    for source in Source:
-      if source in resolver._limit_solutions:
-        assert resolver._limit_solutions[source] == 0.
-        assert resolver._distance_solutions[source] == 0.
-
-  @parametrized_policies
-  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
-    resolver = resolver_class(policy)
-    sm_mock = setup_sm_mock(mocker)
-    source_speed_limit = sm_mock[sm_key].speedLimit
-
-    # Assert the resolver
-    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
-    assert speed_limit == source_speed_limit
-    assert source == Source[function_key]
-
-  def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
-    resolver = resolver_class(Policy.combined)
-    sm_mock = setup_sm_mock(mocker)
-    socket_to_source = {'carStateSP': Source.car_state, 'liveMapDataSP': Source.map_data}
-    minimum_key, minimum_speed_limit = min(
-      ((key, sm_mock[key].speedLimit) for key in
-       socket_to_source.keys()), key=lambda x: x[1])
-
-    # Assert the resolver
-    speed_limit, _, source = resolver.resolve(minimum_speed_limit, 0, sm_mock)
-    assert speed_limit == minimum_speed_limit
-    assert source == socket_to_source[minimum_key]
-
-  @parametrized_policies
-  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
-    resolver = resolver_class(policy)
-    sm_mock = setup_sm_mock(mocker)
-    source_speed_limit = sm_mock[sm_key].speedLimit
-
-    # Assert the parsing
-    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
-    assert resolver._limit_solutions[Source[function_key]] == source_speed_limit
-    assert resolver._distance_solutions[Source[function_key]] == 0.
-
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
-    v_ego = 50
-    resolver = resolver_class(policy)
-
-    sm_mock = setup_sm_mock(mocker)
-    _speed_limit, _distance, _source = resolver.resolve(v_ego, 0, sm_mock)
-
-    # After resolution
-    assert _speed_limit is not None
-    assert _distance is not None
-    assert _source is not None
-
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
-    resolver = resolver_class(policy)
-    sm_mock = mocker.MagicMock()
-    sm_mock['gpsLocation'].unixTimestampMillis = (time.monotonic() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
-    resolver._get_from_map_data(sm_mock)
-    assert resolver._limit_solutions[Source.map_data] == 0.
-    assert resolver._distance_solutions[Source.map_data] == 0.
@@ -1,6 +1,4 @@
-import cereal.messaging as messaging
 from cereal import log, car, custom
-from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert

@@ -16,17 +14,6 @@ EventNameSP = custom.OnroadEventSP.EventName
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}


-def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  speedLimit = sm['longitudinalPlanSP'].slc.speedLimit
-  speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
-  message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit'
-  return Alert(
-    message,
-    "",
-    AlertStatus.normal, AlertSize.small,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)
-
-
 class EventsSP(EventsBase):
  def __init__(self):
    super().__init__()
@@ -145,18 +132,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {

  EventNameSP.pedalPressedAlertOnly: {
    ET.WARNING: NoEntryAlert("Pedal Pressed")
-  },
-
-  EventNameSP.speedLimitActive: {
-    ET.WARNING: Alert(
-      "Set speed changed to match posted speed limit",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 3.),
-  },
-
-  EventNameSP.speedLimitValueChange: {
-    ET.WARNING: speed_limit_adjust_alert,
-  },
+  }

 }
@@ -0,0 +1,34 @@
+#if SENSOR_ID == 1
+
+#define VIGNETTE_PROFILE_8DT0MM
+
+#define BIT_DEPTH 12
+#define PV_MAX 4096
+#define BLACK_LVL 168
+
+float4 normalize_pv(int4 parsed, float vignette_factor) {
+  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
+  return clamp(pv*vignette_factor, 0.0, 1.0);
+}
+
+float3 color_correct(float3 rgb) {
+  float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
+  corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
+  corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
+  return corrected;
+}
+
+float3 apply_gamma(float3 rgb, int expo_time) {
+  // tone mapping params
+  const float gamma_k = 0.75;
+  const float gamma_b = 0.125;
+  const float mp = 0.01; // ideally midpoint should be adaptive
+  const float rk = 9 - 100*mp;
+
+  // poly approximation for s curve
+  return (rgb > mp) ?
+    ((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
+    ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
+}
+
+#endif
@@ -0,0 +1,58 @@
+#if SENSOR_ID == 3
+
+#define BGGR
+#define VIGNETTE_PROFILE_4DT6MM
+
+#define BIT_DEPTH 12
+#define PV_MAX10 1023
+#define PV_MAX12 4095
+#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
+#define BLACK_LVL 48
+
+float combine_dual_pvs(float lv, float sv, int expo_time) {
+  float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
+  float svd = sv * fmin(expo_time, 8.0) / 8;
+
+  if (expo_time > 64) {
+    if (lv < PV_MAX10 - BLACK_LVL) {
+      return lv / (PV_MAX16 - BLACK_LVL);
+    } else {
+      return (svc / 64) / (PV_MAX16 - BLACK_LVL);
+    }
+  } else {
+    if (lv > 32) {
+      return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
+    } else {
+      return svd / (PV_MAX16 - BLACK_LVL);
+    }
+  }
+}
+
+float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
+  float4 pl = convert_float4(parsed - BLACK_LVL);
+  float4 ps = convert_float4(short_parsed - BLACK_LVL);
+  float4 pv;
+  pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
+  pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
+  pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
+  pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
+  return clamp(pv*vignette_factor, 0.0, 1.0);
+}
+
+float4 normalize_pv(int4 parsed, float vignette_factor) {
+  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
+  return clamp(pv*vignette_factor, 0.0, 1.0);
+}
+
+float3 color_correct(float3 rgb) {
+  float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
+  corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
+  corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
+  return corrected;
+}
+
+float3 apply_gamma(float3 rgb, int expo_time) {
+  return (10 * rgb) / (1 + 9 * rgb);
+}
+
+#endif
@@ -0,0 +1,47 @@
+#if SENSOR_ID == 2
+
+#define VIGNETTE_PROFILE_8DT0MM
+
+#define BIT_DEPTH 12
+#define BLACK_LVL 64
+
+float ox_lut_func(int x) {
+  if (x < 512) {
+    return x * 5.94873e-8;
+  } else if (512 <= x && x < 768) {
+    return 3.0458e-05 + (x-512) * 1.19913e-7;
+  } else if (768 <= x && x < 1536) {
+    return 6.1154e-05 + (x-768) * 2.38493e-7;
+  } else if (1536 <= x && x < 1792) {
+    return 0.0002448 + (x-1536) * 9.56930e-7;
+  } else if (1792 <= x && x < 2048) {
+    return 0.00048977 + (x-1792) * 1.91441e-6;
+  } else if (2048 <= x && x < 2304) {
+    return 0.00097984 + (x-2048) * 3.82937e-6;
+  } else if (2304 <= x && x < 2560) {
+    return 0.0019601 + (x-2304) * 7.659055e-6;
+  } else if (2560 <= x && x < 2816) {
+    return 0.0039207 + (x-2560) * 1.525e-5;
+  } else {
+    return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
+  }
+}
+
+float4 normalize_pv(int4 parsed, float vignette_factor) {
+  // PWL
+  float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
+  return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
+}
+
+float3 color_correct(float3 rgb) {
+  float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
+  corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
+  corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
+  return corrected;
+}
+
+float3 apply_gamma(float3 rgb, int expo_time) {
+  return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
+}
+
+#endif
@@ -21,16 +21,16 @@ class TiciFanController(BaseFanController):
    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))

  def update(self, cur_temp: float, ignition: bool) -> int:
-    self.controller.pos_limit = 100 if ignition else 30
-    self.controller.neg_limit = 30 if ignition else 0
+    self.controller.neg_limit = -(100 if ignition else 30)
+    self.controller.pos_limit = -(30 if ignition else 0)

    if ignition != self.last_ignition:
      self.controller.reset()

-    error = cur_temp - 75
-    fan_pwr_out = int(self.controller.update(
+    error = 75 - cur_temp
+    fan_pwr_out = -int(self.controller.update(
                      error=error,
-                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
+                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
                    ))

    self.last_ignition = ignition
@@ -67,17 +67,17 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
-    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
-    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz",
+    "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1",
+    "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
    "size": 5368709120,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f",
    "alt": {
-      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img",
      "size": 5368709120
    }
  }
@@ -350,51 +350,51 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
-    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
-    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz",
+    "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1",
+    "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
    "size": 5368709120,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f",
    "alt": {
-      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img",
      "size": 5368709120
    }
  },
  {
    "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz",
-    "hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac",
-    "hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda.img.xz",
+    "hash": "1eda66d4e31222fc2e792a62ae8e7d322fc643f0b23785e7527bb51a9fee97c7",
+    "hash_raw": "02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda",
    "size": 96636764160,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705"
+    "ondevice_hash": "679b650ee04b7b1ef610b63fde9b43569fded39ceacf88789b564de99c221ea1"
  },
  {
    "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz",
-    "hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116",
-    "hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588.img.xz",
+    "hash": "e63d3277285aae1f04fd7f4f48429ce35010f4843ab755f10d360c3aa788e484",
+    "hash_raw": "bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588",
    "size": 95563022336,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e"
+    "ondevice_hash": "2947374fc5980ffe3c5b94b61cc1c81bc55214f494153ed234164801731f5dc0"
  },
  {
    "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz",
-    "hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9",
-    "hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0.img.xz",
+    "hash": "12d9245711e8c49c51ff2c7b82d7301f2fcb1911edcddb35a105a80911859113",
+    "hash_raw": "22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0",
    "size": 32212254720,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507"
+    "ondevice_hash": "03c8b65c945207f887ed6c52d38b53d53d71c8597dcb0b63dfbb11f7cfff8d2b"
  }
 ]
@@ -44,7 +44,7 @@ def manager_init() -> None:
  # set unset params to their default value
  for k in params.all_keys():
    default_value = params.get_default_value(k)
-    if default_value is not None and params.get(k) is None:
+    if default_value and params.get(k) is None:
      params.put(k, default_value)

  # Create folders needed for msgq
@@ -46,10 +46,9 @@ class TestManager:
    manager.main()
    for k in params.all_keys():
      default_value = params.get_default_value(k)
-      if default_value is not None:
+      if default_value:
        assert params.get(k) == default_value
    assert params.get("OpenpilotEnabledToggle")
-    assert params.get("RouteCount") == 0

  @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
  def test_clean_exit(self, subtests):
@@ -67,8 +67,7 @@ class MouseEvent(NamedTuple):


 class MouseState:
-  def __init__(self, scale: float = 1.0):
-    self._scale = scale
+  def __init__(self):
    self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE)  # bound event list
    self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS

@@ -103,10 +102,8 @@ class MouseState:
  def _handle_mouse_event(self):
    for slot in range(MAX_TOUCH_SLOTS):
      mouse_pos = rl.get_touch_position(slot)
-      x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
-      y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y
      ev = MouseEvent(
-        MousePos(x, y),
+        MousePos(mouse_pos.x, mouse_pos.y),
        slot,
        rl.is_mouse_button_pressed(slot),
        rl.is_mouse_button_released(slot),
@@ -136,7 +133,7 @@ class GuiApplication:
    self._trace_log_callback = None
    self._modal_overlay = ModalOverlay()

-    self._mouse = MouseState(self._scale)
+    self._mouse = MouseState()
    self._mouse_events: list[MouseEvent] = []

    # Debug variables
@@ -39,10 +39,6 @@ vec4 getGradientColor(vec2 pos) {
  float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0);

  if (gradientColorCount <= 1) return gradientColors[0];
-
-  // handle t before first / after last stop
-  if (t <= gradientStops[0]) return gradientColors[0];
-  if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1];
  for (int i = 0; i < gradientColorCount - 1; i++) {
    if (t >= gradientStops[i] && t <= gradientStops[i+1]) {
      float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]);
@@ -37,7 +37,7 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
 NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8

 TETHERING_IP_ADDRESS = "192.168.43.1"
-DEFAULT_TETHERING_PASSWORD = "swagswagcomma"
+DEFAULT_TETHERING_PASSWORD = "12345678"


 # NetworkManager device states
@@ -6,14 +6,10 @@ import time
 import urllib.request
 from urllib.parse import urlparse
 from enum import IntEnum
-import shutil
-
 import pyray as rl

 from cereal import log
-from openpilot.common.run import run_cmd
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
@@ -34,19 +30,6 @@ BUTTON_SPACING = 50
 OPENPILOT_URL = "https://openpilot.comma.ai"
 USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"

-CONTINUE_PATH = "/data/continue.sh"
-TMP_CONTINUE_PATH = "/data/continue.sh.new"
-INSTALL_PATH = "/data/openpilot"
-VALID_CACHE_PATH = "/data/.openpilot_cache"
-INSTALLER_SOURCE_PATH = "/usr/comma/installer"
-INSTALLER_DESTINATION_PATH = "/tmp/installer"
-INSTALLER_URL_PATH = "/tmp/installer_url"
-
-CONTINUE = """#!/usr/bin/env bash
-
-cd /data/openpilot
-exec ./launch_openpilot.sh
-"""

 class SetupState(IntEnum):
  LOW_VOLTAGE = 0
@@ -110,21 +93,14 @@ class Setup(Widget):
    self._network_setup_continue_button.set_enabled(False)
    self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT)

-    self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
-                                                           button_style=ButtonStyle.PRIMARY)
-    self._custom_software_warning_continue_button.set_enabled(False)
+    self._custom_software_warning_continue_button = Button("Continue", self._custom_software_warning_continue_button_callback)
    self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
    self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255),
                                                      text_padding=60)
-    self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
-                                              + "⚠️ It has not been tested by comma.\n\n"
-                                              + "⚠️ It may not comply with relevant safety standards.\n\n"
-                                              + "⚠️ It may cause damage to your device and/or vehicle.\n\n"
-                                              + "If you'd like to proceed, use https://flash.comma.ai "
+    self._custom_software_warning_body_label = Label("Use caution when installing third-party software. Third-party software has not been tested by comma,"
+                                              + " and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai "
                                              + "to restore your device to a factory state later.",
                                             85, text_alignment=TextAlignment.LEFT, text_padding=60)
-    self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
-
    self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM)

    try:
@@ -160,19 +136,21 @@ class Setup(Widget):
    self.state = SetupState.SOFTWARE_SELECTION

  def _custom_software_warning_continue_button_callback(self):
+    self.state = SetupState.CUSTOM_SOFTWARE
+
+  def _getting_started_button_callback(self):
    self.state = SetupState.NETWORK_SETUP
    self.stop_network_check_thread.clear()
    self.start_network_check()

-  def _getting_started_button_callback(self):
-    self.state = SetupState.SOFTWARE_SELECTION
-
  def _software_selection_back_button_callback(self):
-    self.state = SetupState.GETTING_STARTED
+    self.state = SetupState.NETWORK_SETUP
+    self.stop_network_check_thread.clear()
+    self.start_network_check()

  def _software_selection_continue_button_callback(self):
    if self._software_selection_openpilot_button.selected:
-      self.use_openpilot()
+      self.download(OPENPILOT_URL)
    else:
      self.state = SetupState.CUSTOM_SOFTWARE_WARNING

@@ -180,14 +158,11 @@ class Setup(Widget):
    self.state = SetupState.GETTING_STARTED

  def _network_setup_back_button_callback(self):
-    self.state = SetupState.SOFTWARE_SELECTION
+    self.state = SetupState.GETTING_STARTED

  def _network_setup_continue_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
    self.stop_network_check_thread.set()
-    if self._software_selection_openpilot_button.selected:
-      self.download(OPENPILOT_URL)
-    else:
-      self.state = SetupState.CUSTOM_SOFTWARE

  def render_low_voltage(self, rect: rl.Rectangle):
    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
@@ -299,23 +274,13 @@ class Setup(Widget):
    self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))

  def render_custom_software_warning(self, rect: rl.Rectangle):
-    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
-    offset = self._custom_software_warning_body_scroll_panel.handle_scroll(rect, warn_rect)
+    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, rect.y + 150, rect.width - 265, TITLE_FONT_SIZE))
+    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, rect.y + 200 , rect.width - 50, BODY_FONT_SIZE * 3))

    button_width = (rect.width - MARGIN * 3) / 2
    button_y = rect.height - MARGIN - BUTTON_HEIGHT
-
-    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE))
-    y_offset = rect.y + offset.y
-    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE))
-    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 200 , rect.width - 50, BODY_FONT_SIZE * 3))
-    rl.end_scissor_mode()
-
    self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
    self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
-    if offset.y < (rect.height - warn_rect.height):
-      self._custom_software_warning_continue_button.set_enabled(True)
-      self._custom_software_warning_continue_button.set_text("Continue")

  def render_custom_software(self):
    def handle_keyboard_result(result):
@@ -334,23 +299,6 @@ class Setup(Widget):
    self.keyboard.set_title("Enter URL", "for Custom Software")
    gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)

-  def use_openpilot(self):
-    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
-      os.remove(VALID_CACHE_PATH)
-      with open(TMP_CONTINUE_PATH, "w") as f:
-        f.write(CONTINUE)
-      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
-      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
-      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
-
-      # give time for installer UI to take over
-      time.sleep(1)
-      gui_app.request_close()
-    else:
-      self.state = SetupState.NETWORK_SETUP
-      self.stop_network_check_thread.clear()
-      self.start_network_check()
-
  def download(self, url: str):
    # autocomplete incomplete URLs
    if re.match("^([^/.]+)/([^/]+)$", url):
@@ -368,7 +316,7 @@ class Setup(Widget):
    try:
      import tempfile

-      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
+      _, tmpfile = tempfile.mkstemp(prefix="installer_")

      headers = {"User-Agent": USER_AGENT, "X-openpilot-serial": HARDWARE.get_serial()}
      req = urllib.request.Request(self.download_url, headers=headers)
@@ -398,16 +346,12 @@ class Setup(Widget):
        self.download_failed(self.download_url, "No custom software found at this URL.")
        return

-      # AGNOS might try to execute the installer before this process exits.
-      # Therefore, important to close the fd before renaming the installer.
-      os.close(fd)
-      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
+      os.rename(tmpfile, "/tmp/installer")
+      os.chmod("/tmp/installer", 0o755)

-      with open(INSTALLER_URL_PATH, "w") as f:
+      with open("/tmp/installer_url", "w") as f:
        f.write(self.download_url)

-      # give time for installer UI to take over
-      time.sleep(5)
      gui_app.request_close()

    except Exception:
@@ -0,0 +1,121 @@
+import pyray as rl
+
+from openpilot.system.ui.widgets.list_view import ToggleAction, ListItem, ItemAction
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from collections.abc import Callable
+
+from openpilot.system.ui.sunnypilot.lib.toggle import ToggleSP
+import openpilot.system.ui.sunnypilot.lib.styles as styles
+
+style = styles.Default
+
+
+class ToggleActionSP(ToggleAction):
+  def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True):
+    ToggleAction.__init__(self, initial_state, width, enabled)
+    self.toggle = ToggleSP(initial_state=initial_state)
+
+class ListItemSP(ListItem):
+  def __init__(self, title: str = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
+               description_visible: bool = False, callback: Callable | None = None,
+               action_item: ItemAction | None = None):
+    ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
+
+  def get_item_height(self, font: rl.Font, max_width: int) -> float:
+    if not self.is_visible:
+      return 0
+
+    total_width = self._rect.width - (2 * style.ITEM_PADDING)  # Full width minus padding
+    max_width = int(total_width - (2 * style.ITEM_PADDING))
+
+    current_description = self.get_description()
+    if self.description_visible and current_description:
+      if (
+              not self._wrapped_description
+              or current_description != self._prev_description
+              or max_width != self._prev_max_width
+      ):
+        self._prev_max_width = max_width
+        self._prev_description = current_description
+
+        wrapped_lines = wrap_text(self._font, current_description, style.ITEM_DESC_FONT_SIZE, max_width)
+        self._wrapped_description = "\n".join(wrapped_lines)
+        self._description_height = len(wrapped_lines) * style.ITEM_DESC_FONT_SIZE + 10
+      return style.ITEM_BASE_HEIGHT + self._description_height - (style.ITEM_BASE_HEIGHT - style.ITEM_DESC_V_OFFSET) + style.ITEM_PADDING
+    return style.ITEM_BASE_HEIGHT
+
+  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
+    if not self.action_item:
+      return rl.Rectangle(0, 0, 0, 0)
+
+    right_width = self.action_item.rect.width
+    if right_width == 0:  # Full width action (like DualButtonAction)
+      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y,
+                          item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
+
+    action_width = self.action_item.rect.width
+    if isinstance(self.action_item, ToggleAction):
+      action_x = item_rect.x
+    else:
+      action_x = item_rect.x + item_rect.width - action_width
+    action_y = item_rect.y
+    return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT)
+
+  def _render(self, _):
+    content_x = self._rect.x + style.ITEM_PADDING
+    text_x = content_x
+    left_action_item = isinstance(self.action_item, ToggleAction)
+
+    if left_action_item:
+      left_rect = rl.Rectangle(
+        content_x,
+        self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2,
+        style.TOGGLE_WIDTH,
+        style.TOGGLE_HEIGHT
+      )
+      text_x = left_rect.x + left_rect.width + style.ITEM_PADDING
+
+      # Draw title
+      if self.title:
+        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
+
+      # Render toggle and handle callback
+      if self.action_item.render(left_rect) and self.action_item.enabled:
+        if self.callback:
+          self.callback()
+
+    else:
+      if self.title:
+        # Draw main text
+        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
+
+        # Draw right item if present
+        if self.action_item:
+          right_rect = self.get_right_item_rect(self._rect)
+          right_rect.y = self._rect.y
+          if self.action_item.render(right_rect) and self.action_item.enabled:
+            # Right item was clicked/activated
+            if self.callback:
+              self.callback()
+
+    # Draw description if visible
+    current_description = self.get_description()
+    if self.description_visible and current_description and self._wrapped_description:
+      rl.draw_text_ex(
+        self._font,
+        self._wrapped_description,
+        rl.Vector2(content_x, self._rect.y + style.ITEM_DESC_V_OFFSET),
+        style.ITEM_DESC_FONT_SIZE,
+        0,
+        style.ITEM_DESC_TEXT_COLOR,
+      )
+
+def toggle_item_sp(title: str, description: str | Callable[[], str] | None = None, initial_state: bool = False,
+                callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True) -> ListItem:
+  action = ToggleActionSP(initial_state=initial_state, enabled=enabled)
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
@@ -0,0 +1,34 @@
+import pyray as rl
+from dataclasses import dataclass
+
+@dataclass
+class Default:
+  # Base Colors
+  ON_BG_COLOR = rl.Color(28, 101, 186, 255) # Blue
+  OFF_BG_COLOR = rl.Color(39, 39, 39, 255) # Grey
+  DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255) # Dull Blue
+  DISABLED_OFF_BG_COLOR = rl.Color(39, 39, 39, 255) # Grey
+  ITEM_TEXT_COLOR = rl.WHITE
+  ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
+
+  # Widget/Control Dimensions
+  ITEM_BASE_HEIGHT = 170
+  ITEM_PADDING = 30
+  ITEM_TEXT_FONT_SIZE = 50
+  ITEM_DESC_FONT_SIZE = 40
+  ITEM_DESC_V_OFFSET = 150
+
+  TOGGLE_HEIGHT = 100
+  TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
+  TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
+
+  BUTTON_WIDTH = 250
+  BUTTON_HEIGHT = 100
+
+  # Toggle Colors
+  TOGGLE_ON_COLOR = ON_BG_COLOR
+  TOGGLE_OFF_COLOR = OFF_BG_COLOR
+  TOGGLE_KNOB_COLOR = rl.WHITE
+  TOGGLE_DISABLED_ON_COLOR = DISABLED_ON_BG_COLOR
+  TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
+  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255) # Lighter Grey
@@ -0,0 +1,89 @@
+import pyray as rl
+from openpilot.system.ui.widgets.toggle import Toggle
+import openpilot.system.ui.sunnypilot.lib.styles as styles
+
+style = styles.Default
+
+class ToggleSP(Toggle):
+  def __init__(self, initial_state=False):
+    Toggle.__init__(self, initial_state)
+
+  def _render(self, rect: rl.Rectangle):
+    self.update()
+    if self._enabled:
+      bg_color = self._blend_color(style.TOGGLE_OFF_COLOR, style.TOGGLE_ON_COLOR, self._progress)
+      knob_color = style.TOGGLE_KNOB_COLOR
+    else:
+      bg_color = self._blend_color(style.TOGGLE_DISABLED_OFF_COLOR, style.TOGGLE_DISABLED_ON_COLOR, self._progress)
+      knob_color = style.TOGGLE_DISABLED_KNOB_COLOR
+
+    # Draw background
+    bg_rect = rl.Rectangle(self._rect.x, self._rect.y, style.TOGGLE_WIDTH, style.TOGGLE_BG_HEIGHT)
+
+    # Draw outline first
+    outline_color = style.TOGGLE_ON_COLOR
+    if not self._enabled:
+        # Use a more subtle color for disabled state
+        outline_color = rl.Color(outline_color.r // 2, outline_color.g // 2, outline_color.b // 2, 255)
+
+    # Draw outline by drawing a slightly larger rounded rectangle behind the background
+    outline_rect = rl.Rectangle(bg_rect.x - 2, bg_rect.y - 2, bg_rect.width + 4, bg_rect.height + 4)
+    rl.draw_rectangle_rounded(outline_rect, 1.0, 10, outline_color)
+
+    # Draw actual background
+    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
+
+    # Draw knob to sit inside the background
+    knob_padding = 5
+    knob_radius = style.TOGGLE_BG_HEIGHT / 2 - knob_padding
+
+    left_edge = bg_rect.x + knob_padding
+    right_edge = bg_rect.x + bg_rect.width - knob_padding
+
+    knob_travel_distance = right_edge - left_edge - 2 * knob_radius
+    min_knob_x = left_edge + knob_radius
+    knob_x = min_knob_x + knob_travel_distance * self._progress
+    knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
+
+    rl.draw_circle(int(knob_x), int(knob_y), knob_radius, knob_color)
+
+    symbol_size = knob_radius / 2
+
+    if self._state and (self._enabled or self._progress > 0.5):
+        # Draw checkmark when toggle is ON
+        start_x = knob_x - symbol_size * 0.8
+        start_y = knob_y
+        mid_x = knob_x - symbol_size * 0.1
+        mid_y = knob_y + symbol_size * 0.6
+        end_x = knob_x + symbol_size * 0.8
+        end_y = knob_y - symbol_size * 0.5
+
+        rl.draw_line_ex(
+            rl.Vector2(int(start_x), int(start_y)),
+            rl.Vector2(int(mid_x), int(mid_y)),
+            3,
+          style.TOGGLE_ON_COLOR
+        )
+        rl.draw_line_ex(
+            rl.Vector2(int(mid_x), int(mid_y)),
+            rl.Vector2(int(end_x), int(end_y)),
+            3,
+          style.TOGGLE_ON_COLOR
+        )
+    else:
+        # Draw X when toggle is OFF
+        x_size_factor = 0.65
+        x_offset = symbol_size * x_size_factor
+
+        rl.draw_line_ex(
+            rl.Vector2(int(knob_x - x_offset), int(knob_y - x_offset)),
+            rl.Vector2(int(knob_x + x_offset), int(knob_y + x_offset)),
+            3,
+          style.TOGGLE_OFF_COLOR
+        )
+        rl.draw_line_ex(
+            rl.Vector2(int(knob_x + x_offset), int(knob_y - x_offset)),
+            rl.Vector2(int(knob_x - x_offset), int(knob_y + x_offset)),
+            3,
+          style.TOGGLE_OFF_COLOR
+        )
@@ -1,17 +1,17 @@
-from enum import IntEnum
+from dataclasses import dataclass
 from functools import partial
 from threading import Lock
-from typing import cast
+from typing import Literal

 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import ButtonStyle, Button
+from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
-from openpilot.system.ui.widgets.label import TextAlignment, gui_label
+from openpilot.system.ui.widgets.label import gui_label

 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8
@@ -27,20 +27,43 @@ STRENGTH_ICONS = [
 ]


-class UIState(IntEnum):
-  IDLE = 0
-  CONNECTING = 1
-  NEEDS_AUTH = 2
-  SHOW_FORGET_CONFIRM = 3
-  FORGETTING = 4
+@dataclass
+class StateIdle:
+  action: Literal["idle"] = "idle"
+
+
+@dataclass
+class StateConnecting:
+  network: NetworkInfo
+  action: Literal["connecting"] = "connecting"
+
+
+@dataclass
+class StateNeedsAuth:
+  network: NetworkInfo
+  retry: bool
+  action: Literal["needs_auth"] = "needs_auth"
+
+
+@dataclass
+class StateShowForgetConfirm:
+  network: NetworkInfo
+  action: Literal["show_forget_confirm"] = "show_forget_confirm"
+
+
+@dataclass
+class StateForgetting:
+  network: NetworkInfo
+  action: Literal["forgetting"] = "forgetting"
+
+
+UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting


 class WifiManagerUI(Widget):
  def __init__(self, wifi_manager: WifiManagerWrapper):
    super().__init__()
-    self.state: UIState = UIState.IDLE
-    self._state_network: NetworkInfo | None = None  # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING
-    self._password_retry: bool = False  # for NEEDS_AUTH
+    self.state: UIState = StateIdle()
    self.btn_width: int = 200
    self.scroll_panel = GuiScrollPanel()
    self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
@@ -70,16 +93,17 @@ class WifiManagerUI(Widget):
        gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
        return

-      if self.state == UIState.NEEDS_AUTH and self._state_network:
-        self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}")
-        self.keyboard.reset()
-        gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(NetworkInfo, self._state_network), result))
-      elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
-        self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?')
-        self._confirm_dialog.reset()
-        gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
-      else:
-        self._draw_network_list(rect)
+      match self.state:
+        case StateNeedsAuth(network, retry):
+          self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}")
+          self.keyboard.reset()
+          gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result))
+        case StateShowForgetConfirm(network):
+          self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{network.ssid}"?')
+          self._confirm_dialog.reset()
+          gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result))
+        case _:
+          self._draw_network_list(rect)

  def _on_password_entered(self, network: NetworkInfo, result: int):
    if result == 1:
@@ -89,13 +113,13 @@ class WifiManagerUI(Widget):
      if len(password) >= MIN_PASSWORD_LENGTH:
        self.connect_to_network(network, password)
    elif result == 0:
-      self.state = UIState.IDLE
+      self.state = StateIdle()

  def on_forgot_confirm_finished(self, network, result: int):
    if result == 1:
      self.forget_network(network)
    elif result == 0:
-      self.state = UIState.IDLE
+      self.state = StateIdle()

  def _draw_network_list(self, rect: rl.Rectangle):
    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
@@ -123,18 +147,17 @@ class WifiManagerUI(Widget):
    security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)

    status_text = ""
-    if self.state == UIState.CONNECTING and self._state_network:
-      if self._state_network.ssid == network.ssid:
-        self._networks_buttons[network.ssid].set_enabled(False)
-        status_text = "CONNECTING..."
-    elif self.state == UIState.FORGETTING and self._state_network:
-      if self._state_network.ssid == network.ssid:
-        self._networks_buttons[network.ssid].set_enabled(False)
-        status_text = "FORGETTING..."
-    elif network.security_type == SecurityType.UNSUPPORTED:
-      self._networks_buttons[network.ssid].set_enabled(False)
-    else:
-      self._networks_buttons[network.ssid].set_enabled(True)
+    match self.state:
+      case StateConnecting(network=connecting):
+        if connecting.ssid == network.ssid:
+          self._networks_buttons[network.ssid].set_enabled(False)
+          status_text = "CONNECTING..."
+      case StateForgetting(network=forgetting):
+        if forgetting.ssid == network.ssid:
+          self._networks_buttons[network.ssid].set_enabled(False)
+          status_text = "FORGETTING..."
+      case _:
+        self._networks_buttons[network.ssid].set_enabled(True)

    self._networks_buttons[network.ssid].render(ssid_rect)

@@ -158,16 +181,13 @@ class WifiManagerUI(Widget):
  def _networks_buttons_callback(self, network):
    if self.scroll_panel.is_touch_valid():
      if not network.is_saved and network.security_type != SecurityType.OPEN:
-        self.state = UIState.NEEDS_AUTH
-        self._state_network = network
-        self._password_retry = False
+        self.state = StateNeedsAuth(network, False)
      elif not network.is_connected:
        self.connect_to_network(network)

  def _forget_networks_buttons_callback(self, network):
    if self.scroll_panel.is_touch_valid():
-      self.state = UIState.SHOW_FORGET_CONFIRM
-      self._state_network = network
+      self.state = StateShowForgetConfirm(network)

  def _draw_status_icon(self, rect, network: NetworkInfo):
    """Draw the status icon based on network's connection state"""
@@ -192,16 +212,14 @@ class WifiManagerUI(Widget):
    rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE)

  def connect_to_network(self, network: NetworkInfo, password=''):
-    self.state = UIState.CONNECTING
-    self._state_network = network
+    self.state = StateConnecting(network)
    if network.is_saved and not password:
      self.wifi_manager.activate_connection(network.ssid)
    else:
      self.wifi_manager.connect_to_network(network.ssid, password)

  def forget_network(self, network: NetworkInfo):
-    self.state = UIState.FORGETTING
-    self._state_network = network
+    self.state = StateForgetting(network)
    network.is_saved = False
    self.wifi_manager.forget_connection(network.ssid)

@@ -218,24 +236,22 @@ class WifiManagerUI(Widget):
    with self._lock:
      network = next((n for n in self._networks if n.ssid == ssid), None)
      if network:
-        self.state = UIState.NEEDS_AUTH
-        self._state_network = network
-        self._password_retry = True
+        self.state = StateNeedsAuth(network, True)

  def _on_activated(self):
    with self._lock:
-      if self.state == UIState.CONNECTING:
-        self.state = UIState.IDLE
+      if isinstance(self.state, StateConnecting):
+        self.state = StateIdle()

  def _on_forgotten(self, ssid):
    with self._lock:
-      if self.state == UIState.FORGETTING:
-        self.state = UIState.IDLE
+      if isinstance(self.state, StateForgetting):
+        self.state = StateIdle()

  def _on_connection_failed(self, ssid: str, error: str):
    with self._lock:
-      if self.state == UIState.CONNECTING:
-        self.state = UIState.IDLE
+      if isinstance(self.state, StateConnecting):
+        self.state = StateIdle()


 def main():
@@ -242,9 +242,6 @@ class Updater:
    b: str | None = self.params.get("UpdaterTargetBranch")
    if b is None:
      b = self.get_branch(BASEDIR)
-    b = {
-      ("tici", "release3"): "release-tici"
-    }.get((HARDWARE.get_device_type(), b), b)
    return b

  @property
@@ -286,8 +283,8 @@ class Updater:
      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
      self.params.put("LastUpdateRouteCount", last_route_count)
    else:
-      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
-      last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)
+      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad") or last_uptime_onroad
+      last_route_count = self.params.get("LastUpdateRouteCount") or last_route_count

    if exception is None:
      self.params.remove("LastUpdateException")
@@ -13,7 +13,7 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
 RELEASE_SP_BRANCHES = ['release-c3']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES

 BUILD_METADATA_FILENAME = "build.json"
@@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):


 class CompressedVipc:
-  def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
+  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
    print("getting frame sizes")
    os.environ["ZMQ"] = "1"
    messaging.reset_context()
@@ -117,7 +117,7 @@ class CompressedVipc:
    os.environ.pop("ZMQ")
    messaging.reset_context()

-    self.vipc_server = VisionIpcServer(server_name)
+    self.vipc_server = VisionIpcServer("camerad")
    for vst in vision_streams:
      ed = sm[ENCODE_SOCKETS[vst]]
      self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
@@ -144,7 +144,6 @@ if __name__ == "__main__":
  parser.add_argument("addr", help="Address of comma three")
  parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
  parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
-  parser.add_argument("--server", default="camerad", help="choose vipc server name")
  parser.add_argument("--silent", action="store_true", help="Suppress debug output")
  args = parser.parse_args()

@@ -155,7 +154,7 @@ if __name__ == "__main__":
  ]

  vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
-  cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))
+  cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))

  # register exit handler
  signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3

+import atexit
 import logging
 import os
 import platform
@@ -10,14 +11,13 @@ from argparse import ArgumentParser, ArgumentTypeError
 from collections.abc import Sequence
 from pathlib import Path
 from random import randint
-from subprocess import Popen
+from subprocess import Popen, PIPE
 from typing import Literal

 from cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.common.run import managed_proc
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader

@@ -38,23 +38,22 @@ UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
 logger = logging.getLogger('clip.py')


-def check_for_failure(procs: list[Popen]):
-  for proc in procs:
-    exit_code = proc.poll()
-    if exit_code is not None and exit_code != 0:
-      cmd = str(proc.args)
-      if isinstance(proc.args, str):
-        cmd = proc.args
-      elif isinstance(proc.args, Sequence):
-        cmd = str(proc.args[0])
-      msg = f'{cmd} failed, exit code {exit_code}'
-      logger.error(msg)
-      stdout, stderr = proc.communicate()
-      if stdout:
-        logger.error(stdout.decode())
-      if stderr:
-        logger.error(stderr.decode())
-      raise ChildProcessError(msg)
+def check_for_failure(proc: Popen):
+  exit_code = proc.poll()
+  if exit_code is not None and exit_code != 0:
+    cmd = str(proc.args)
+    if isinstance(proc.args, str):
+      cmd = proc.args
+    elif isinstance(proc.args, Sequence):
+      cmd = str(proc.args[0])
+    msg = f'{cmd} failed, exit code {exit_code}'
+    logger.error(msg)
+    stdout, stderr = proc.communicate()
+    if stdout:
+      logger.error(stdout.decode())
+    if stderr:
+      logger.error(stderr.decode())
+    raise ChildProcessError(msg)


 def escape_ffmpeg_text(value: str):
@@ -138,6 +137,10 @@ def populate_car_params(lr: LogReader):
  logger.debug('persisted CarParams')


+def start_proc(args: list[str], env: dict[str, str]):
+  return Popen(args, env=env, stdout=PIPE, stderr=PIPE)
+
+
 def validate_env(parser: ArgumentParser):
  if platform.system() not in ['Linux']:
    parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
@@ -173,7 +176,8 @@ def wait_for_frames(procs: list[Popen]):
  while no_frames_drawn:
    sm.update()
    no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
-    check_for_failure(procs)
+    for proc in procs:
+      check_for_failure(proc)


 def clip(
@@ -249,22 +253,35 @@ def clip(

  with OpenpilotPrefix(prefix, shared_download_cache=True):
    populate_car_params(lr)
+
    env = os.environ.copy()
    env['DISPLAY'] = display

-    with managed_proc(xvfb_cmd, env) as xvfb_proc, managed_proc(ui_cmd, env) as ui_proc, managed_proc(replay_cmd, env) as replay_proc:
-      procs = [xvfb_proc, ui_proc, replay_proc]
-      logger.info('waiting for replay to begin (loading segments, may take a while)...')
-      wait_for_frames(procs)
-      logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
-      time.sleep(SECONDS_TO_WARM)
-      check_for_failure(procs)
-      with managed_proc(ffmpeg_cmd, env) as ffmpeg_proc:
-        procs.append(ffmpeg_proc)
-        logger.info(f'recording in progress ({duration}s)...')
-        ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
-        check_for_failure(procs)
-        logger.info(f'recording complete: {Path(out).resolve()}')
+    xvfb_proc = start_proc(xvfb_cmd, env)
+    atexit.register(lambda: xvfb_proc.terminate())
+    ui_proc = start_proc(ui_cmd, env)
+    atexit.register(lambda: ui_proc.terminate())
+    replay_proc = start_proc(replay_cmd, env)
+    atexit.register(lambda: replay_proc.terminate())
+    procs = [replay_proc, ui_proc, xvfb_proc]
+
+    logger.info('waiting for replay to begin (loading segments, may take a while)...')
+    wait_for_frames(procs)
+
+    logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
+    time.sleep(SECONDS_TO_WARM)
+    for proc in procs:
+      check_for_failure(proc)
+
+    ffmpeg_proc = start_proc(ffmpeg_cmd, env)
+    procs.append(ffmpeg_proc)
+    atexit.register(lambda: ffmpeg_proc.terminate())
+
+    logger.info(f'recording in progress ({duration}s)...')
+    ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
+    for proc in procs:
+      check_for_failure(proc)
+    logger.info(f'recording complete: {Path(out).resolve()}')


 def main():
@@ -302,7 +319,9 @@ def main():
    logger.exception('interrupted by user', exc_info=e)
  except Exception as e:
    logger.exception('encountered error', exc_info=e)
-  sys.exit(exit_code)
+  finally:
+    atexit._run_exitfuncs()
+    sys.exit(exit_code)


 if __name__ == '__main__':
@@ -1,57 +0,0 @@
-from collections.abc import Callable
-
-from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available
-from openpilot.tools.lib.route import Route, SegmentRange, FileName
-
-# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2)
-FileNames = tuple[str, ...]
-Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]]
-
-InternalUnavailableException = Exception("Internal source not available")
-
-
-def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
-  route = Route(sr.route_name)
-
-  # comma api will have already checked if the file exists
-  if fns == FileName.RLOG:
-    return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None}
-  else:
-    return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
-
-
-def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
-  if not internal_source_available(endpoint_url):
-    raise InternalUnavailableException
-
-  def get_internal_url(sr: SegmentRange, seg, file):
-    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
-
-  return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
-
-
-def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
-  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
-
-
-def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
-  return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
-
-
-def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]:
-  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
-  valid_files: dict[int, str] = {}
-
-  for seg_idx, urls in files.items():
-    if isinstance(urls, str):
-      urls = [urls]
-
-    # Add first valid file URL
-    for url in urls:
-      if file_exists(url):
-        valid_files[seg_idx] = url
-        break
-
-  return valid_files
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
nayan	38bb1407c9	remove backup from param	2025-08-23 20:41:43 -04:00
nayan	613e8d27b5	refactor	2025-08-23 20:40:23 -04:00
nayan	3af7841a5d	lovely params	2025-08-23 20:11:27 -04:00
nayan	5c2c6a9c75	Merge remote-tracking branch 'origin/master' into pyui/sp-toggles # Conflicts: # common/params_keys.h # system/manager/manager.py	2025-08-23 20:05:29 -04:00
Nayan	acfbfea41d	Merge branch 'master-new' into pyui/sp-toggles	2025-07-25 22:30:58 -04:00
Nayan	1dee05cb1f	add backup to sunnypilot_ui param Co-authored-by: DevTekVE <devtekve@gmail.com>	2025-07-24 16:38:49 -04:00
nayan	3ff8ccfc23	lint.. LINT.!! LIIINNNTTTT...!!!!	2025-07-22 11:31:09 -04:00
nayan	c1f251a34f	better, bigger toggles	2025-07-22 11:21:58 -04:00
Nayan	29e76a1e38	Merge branch 'master-new' into pyui/sp-toggles	2025-07-22 08:51:35 -04:00
nayan	3384771117	update names to sp	2025-07-21 19:47:57 -04:00
nayan	a6dfe14487	remove unused imports	2025-07-21 15:46:27 -04:00
nayan	b9c3ef57d1	add sunnypilot_ui param	2025-07-21 14:43:01 -04:00
nayan	9b5228ec08	add left-aligned sp toggle style	2025-07-21 13:51:57 -04:00