TCPv3 plus gWM9 Model

CgWM + ST

.github/workflows/post-to-discourse/action.yml

@@ -0,0 +1,105 @@
+name: 'Post to Discourse'
+description: 'Posts a message to a Discourse topic (existing or new)'
+
+inputs:
+  discourse-url:
+    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
+    required: true
+  api-key:
+    description: 'Discourse API key'
+    required: true
+  api-username:
+    description: 'Discourse API username'
+    required: true
+  topic-id:
+    description: 'Discourse topic ID to post to (use this OR category-id + title)'
+    required: false
+  category-id:
+    description: 'Category ID for new topic (required if topic-id not provided)'
+    required: false
+  title:
+    description: 'Title for new topic (required if topic-id not provided)'
+    required: false
+  message:
+    description: 'Message content (markdown supported)'
+    required: true
+
+outputs:
+  post-number:
+    description: 'The post number in the topic'
+    value: ${{ steps.post.outputs.post_number }}
+  post-url:
+    description: 'Direct URL to the post'
+    value: ${{ steps.post.outputs.post_url }}
+  topic-id:
+    description: 'The topic ID (useful when creating a new topic)'
+    value: ${{ steps.post.outputs.topic_id }}
+
+runs:
+  using: "composite"
+  steps:
+    - name: Post to Discourse
+      id: post
+      shell: bash
+      run: |
+        # Validate inputs
+        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
+          echo "❌ Error: Must provide either topic-id OR both category-id and title"
+          exit 1
+        fi
+        
+        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
+          echo "⚠️  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
+        fi
+        
+        # Determine if creating new topic or posting to existing
+        if [ -n "${{ inputs.topic-id }}" ]; then
+          echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
+        
+          # Create JSON payload for posting to existing topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg topic_id "${{ inputs.topic-id }}" \
+            '{topic_id: $topic_id, raw: $content}')
+        else
+          echo "✨ Creating new topic: ${{ inputs.title }}"
+        
+          # Create JSON payload for new topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg title "${{ inputs.title }}" \
+            --arg category "${{ inputs.category-id }}" \
+            '{title: $title, category: ($category | tonumber), raw: $content}')
+        fi
+        
+        # Post to Discourse
+        RESPONSE=$(curl -s -w "\n%{http_code}" \
+          -X POST "${{ inputs.discourse-url }}/posts.json" \
+          -H "Content-Type: application/json" \
+          -H "Api-Key: ${{ inputs.api-key }}" \
+          -H "Api-Username: ${{ inputs.api-username }}" \
+          -d "$PAYLOAD")
+        
+        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
+        BODY=$(echo "$RESPONSE" | sed '$d')
+        
+        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
+          echo "✅ Successfully posted to Discourse!"
+        
+          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
+          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
+          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
+        
+          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
+          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
+          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
+        
+          echo "Topic ID: ${TOPIC_ID}"
+          echo "Post number: ${POST_NUMBER}"
+          echo "URL: ${POST_URL}"
+        else
+          echo "❌ Failed to post to Discourse"
+          echo "HTTP Code: ${HTTP_CODE}"
+          echo "Response: ${BODY}"
+          exit 1
+        fi

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

@@ -302,36 +302,51 @@ jobs:
             git push -f origin ${TAG}
 
   notify:
-    needs: [ build, publish ]
+    needs: 
+    - prepare_strategy
+    - build
+    - publish
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure()) && needs.publish.result == 'success' && !failure() && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure())
+      && needs.publish.result == 'success'
+      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
     steps:
       - uses: actions/checkout@v4
-      - name: Setup Alpine Linux environment
-        uses: jirutka/setup-alpine@v1.2.0
-        with:
-          packages: 'jq gettext curl'
 
-      - name: Send Discord Notification
-        env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+      - name: Prepare notification message
+        id: message
         run: |
-          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
-          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
-          export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ env.SOURCE_BRANCH }}
-          export new_branch=${{ needs.build.outputs.new_branch }}
-          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
-          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
+          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
+          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
+          export branch_name="${{ env.SOURCE_BRANCH }}"
+          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
+          export commit_sha="${{ github.sha }}"
+          export commit_short_sha="${{ github.sha }}"
+          export commit_short_sha="${commit_short_sha:0:7}"
+          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
+          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
 
-          echo ""
-          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
-          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
+          MESSAGE=$(cat << 'EOF' | envsubst
+          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
+          EOF
+          )
+          
+          {
+            echo 'content<<EOFMARKER'
+            echo "$MESSAGE"
+            echo 'EOFMARKER'
+          } >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Post to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: "system"
+          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
+          message: ${{ steps.message.outputs.content }}
 
   manage-pr-labels:
     name: Remove prebuilt label

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

@@ -3,7 +3,6 @@ name: Build dev
 env:
   DEFAULT_SOURCE_BRANCH: "master"
   DEFAULT_TARGET_BRANCH: "master-dev"
-  PR_LABEL: "dev"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
@@ -43,7 +42,7 @@ jobs:
     if: (
       (github.event_name == 'workflow_dispatch')
       || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
+      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
       )
     steps:
       - uses: actions/checkout@v4
@@ -55,7 +54,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
           (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
           )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
@@ -119,7 +118,7 @@ jobs:
           # Use GitHub API to get PRs with specific label, ordered by creation date
           PR_LIST=$(gh api graphql -f query='
             query($search_query:String!) {
-              search(query: $search_query, type:ISSUE, first:100) {
+              search(query: $search_query, type:ISSUE, first:40) {
                 nodes {
                   ... on PullRequest {
                     number
@@ -149,7 +148,7 @@ jobs:
                   }
                 }
               }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${PR_LABEL},${PR_LABEL}-c3 draft:false sort:created-asc")
+            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
 
           PR_LIST=${PR_LIST//\'/}
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT

.github/workflows/test-discourse.yaml.yml

@@ -0,0 +1,78 @@
+name: Debug Discourse Posting
+
+on:
+  push:
+
+jobs:
+  test-discourse-post:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Post test message to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      
+      
+      - name: Create topic on Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          category-id: 4
+          title: "This is a test of a new topic instead of a reply"
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      - name: Display results
+        if: always()
+        run: |
+          echo "::notice::Discourse post test completed"
+          echo "Check your Discourse topic to verify the post appeared correctly"

CHANGELOG.md

@@ -1,3 +1,6 @@
+sunnypilot Version 2025.002.000 (2025-xx-xx)
+========================
+
 sunnypilot Version 2025.001.000 (2025-10-25)
 ========================
 * 🛠️ Major rewrite

README.md

@@ -3,11 +3,9 @@
 ## 🌞 What is sunnypilot?
 [sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-## 💭 Join our Discord
-Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://discord.gg/sunnypilot
-
-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+## 💭 Join our Community Forum
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://community.sunnypilot.ai/
 
 ## Documentation
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
@@ -16,13 +14,13 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 * A supported device to run this software
     * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
 * This software
-* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
 
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
 
 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,28 +29,28 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three, go to `Settings` ▶️ `Software`.
+  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
   2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
   3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
 
-
-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
+### Recommended Branches
+|      Branch     |                 Installation URL              |
+|:---------------:|:---------------------------------------------:|
+| `release`       | `https://release.sunnypilot.ai`               |
+| `staging`       | `https://staging.sunnypilot.ai`               |
+|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
 
 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
 
 > [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
 
 
 <details>

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Firehose (Default)"
+#define DEFAULT_MODEL "TCPv3 + gWMv9 (Default)"

common/params_keys.h

@@ -208,6 +208,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

selfdrive/controls/controlsd.py

@@ -132,7 +132,7 @@ class Controls(ControlsExt, ModelStateBase):
       self.LoC.reset()
 
     # accel PID loop
-    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
+    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC

selfdrive/ui/qt/widgets/wifi.cc

@@ -11,17 +11,18 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
   main_layout->setContentsMargins(56, 40, 56, 40);
   main_layout->setSpacing(42);  
   
-  QLabel *title = new QLabel(tr("<span style='font-family: \"Noto Color Emoji\";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>"));
-  title->setStyleSheet("font-size: 64px; font-weight: 500;");
+  community_popup = new SunnylinkCommunityPopup(this);
+  QLabel *title = new QLabel(tr("sunnypilot Community"));
+  title->setStyleSheet("font-size: 56px; font-weight: 500;");
   main_layout->addWidget(title);
 
-  QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models."));
+  QLabel *desc = new QLabel(tr("Need help or have ideas?<br><b>Join</b> our community now!"));
   desc->setStyleSheet("font-size: 40px; font-weight: 400;");
   desc->setWordWrap(true);
   main_layout->addWidget(desc);
 
-  QPushButton *settings_btn = new QPushButton(tr("Open"));
-  connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); });
+  QPushButton *settings_btn = new QPushButton(tr("Learn More"));
+  connect(settings_btn, &QPushButton::clicked, [=]() { community_popup->exec(); });
   settings_btn->setStyleSheet(R"(
     QPushButton {
       font-size: 48px;

selfdrive/ui/qt/widgets/wifi.h

@@ -3,12 +3,17 @@
 #include <QFrame>
 #include <QWidget>
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
+
 class WiFiPromptWidget : public QFrame {
   Q_OBJECT
 
 public:
   explicit WiFiPromptWidget(QWidget* parent = 0);
 
+private:
+  SunnylinkCommunityPopup *community_popup;
+
 signals:
   void openSettings(int index = 0, const QString &param = "");
 };

selfdrive/ui/sunnypilot/SConscript

@@ -35,6 +35,7 @@ qt_src = [
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
+  "sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
   "sunnypilot/qt/offroad/settings/visuals_panel.cc",

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

@@ -310,9 +310,8 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
   QList<TreeNode> sortedModels;
   QSet<QString> modelFolders;
   QRegularExpression re("\\(([^)]*)\\)[^(]*$");
-  const auto bundles = model_manager.getAvailableBundles();
 
-  for (const auto &bundle : bundles) {
+  for (const auto &bundle : model_manager.getAvailableBundles()) {
     auto overrides = bundle.getOverrides();
     QString folder;
     for (const auto &override : overrides) {
@@ -392,7 +391,7 @@ void ModelsPanel::handleCurrentModelLblBtnClicked() {
     showResetParamsDialog();
   } else {
     // Find selected bundle and initiate download
-    for (const auto &bundle: bundles) {
+    for (const auto &bundle: model_manager.getAvailableBundles()) {
       if (QString::fromStdString(bundle.getRef()) == selectedBundleRef) {
         params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
         if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {

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

@@ -0,0 +1,139 @@
+/**
+ * Copyright (c) 2025-, sunnypilot 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/sunnylink/community_widget.h"
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
+using qrcodegen::QrCode;
+
+// --- SunnylinkCommunityQRWidget ---
+
+SunnylinkCommunityQRWidget::SunnylinkCommunityQRWidget(QWidget* parent)
+    : QWidget(parent) {}
+
+void SunnylinkCommunityQRWidget::showEvent(QShowEvent *event) {
+  updateQrCode(SUNNYLINK_COMMUNITY_URL);
+  update();
+}
+
+void SunnylinkCommunityQRWidget::updateQrCode(const QString &text) {
+  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
+  qint32 sz = qr.getSize();
+  QImage im(sz, sz, QImage::Format_RGB32);
+
+  QRgb black = qRgb(0, 0, 0);
+  QRgb white = qRgb(255, 255, 255);
+  for (int y = 0; y < sz; y++) {
+    for (int x = 0; x < sz; x++) {
+      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
+    }
+  }
+
+  int final_sz = ((width() / sz) - 1) * sz;
+  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
+}
+
+void SunnylinkCommunityQRWidget::paintEvent(QPaintEvent *e) {
+  QPainter p(this);
+  p.fillRect(rect(), Qt::white);
+
+  if (!img.isNull()) {
+    QSize s = (size() - img.size()) / 2;
+    p.drawPixmap(s.width(), s.height(), img);
+  }
+}
+
+// --- SunnylinkCommunityPopup ---
+
+QStringList SunnylinkCommunityPopup::getInstructions() {
+  QStringList instructions;
+  instructions << tr("Scan the QR code and join us!");
+  return instructions;
+}
+
+SunnylinkCommunityPopup::SunnylinkCommunityPopup(QWidget* parent)
+    : DialogBase(parent) {
+  auto *mainLayout = new QVBoxLayout(this);
+  mainLayout->setContentsMargins(0, 0, 0, 0);
+  mainLayout->setSpacing(0);
+
+  // Solarized Light base3 background
+  setStyleSheet("SunnylinkCommunityPopup { background-color: #FDF6E3; }");
+
+  // Header spanning full width
+  auto headerWidget = new QWidget(this);
+  auto headerLayout = new QHBoxLayout(headerWidget);
+  headerLayout->setContentsMargins(85, 50, 85, 30);
+  headerLayout->setSpacing(30);
+
+  auto close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
+  close->setIconSize(QSize(80, 80));
+  close->setStyleSheet("border: none;");
+  connect(close, &QPushButton::clicked, this, &QDialog::reject);
+  headerLayout->addWidget(close, 0, Qt::AlignLeft | Qt::AlignVCenter);
+
+  const auto title = new QLabel(tr("Join the sunnypilot Community Forum"), this);
+  // Solarized base02 for text
+  title->setStyleSheet("font-size: 65px; color: #073642;");
+  title->setWordWrap(false);
+  title->setAlignment(Qt::AlignCenter);
+  headerLayout->addWidget(title, 1);
+
+  // Spacer to balance the close button on the right
+  auto spacer = new QWidget(this);
+  spacer->setFixedSize(80, 80);
+  headerLayout->addWidget(spacer, 0);
+
+  mainLayout->addWidget(headerWidget);
+
+  // Two-column content layout
+  auto contentLayout = new QHBoxLayout();
+  contentLayout->setContentsMargins(0, 0, 0, 0);
+  contentLayout->setSpacing(0);
+  mainLayout->addLayout(contentLayout, 66);
+
+  // Left side: description
+  auto leftLayout = new QVBoxLayout();
+  leftLayout->setContentsMargins(85, 40, 50, 70);
+  leftLayout->setSpacing(35);
+  contentLayout->addLayout(leftLayout, 40);
+
+  // Hype / intro paragraph
+  const auto desc = new QLabel(tr(
+    "We're excited to announce our <b>sunnypilot Community Forum</b><br><br>"
+    "Over the years, Discord just hasn't scaled well for our growing community.<br>"
+    "It's noisy, unsearchable, and great discussions disappear too easily.<br>"
+    "Our new community forum aims to fix that by making it easier to <b>find answers, share ideas, track feedback, report bugs, help newcomers</b> and more!<br><br>"
+    "<b>Here's what's waiting for you:</b><br>"
+    "• Fully <b>indexable</b> and discoverable through search engines 🔎<br>"
+    "• <b>AI-powered</b>🤖 topic and chat summaries, spam detection, and more<br>"
+    "• A <b>trust-level system</b>✅ that rewards meaningful contributions<br>"
+    "• Designed to work <b>on your own time</b>.🧘<br><br>"
+    "Scan the QR code on the right and join the discussion!"
+  ), this);
+  // Solarized base01 for body text
+  desc->setStyleSheet("font-size: 40px; color: #586E75;");
+  desc->setWordWrap(true);
+  leftLayout->addWidget(desc);
+
+  leftLayout->addStretch();
+
+  // Right side: QR code and instructions
+  auto rightLayout = new QVBoxLayout();
+  rightLayout->setContentsMargins(50, 40, 85, 70);
+  rightLayout->setSpacing(40);
+  contentLayout->addLayout(rightLayout, 1);
+
+  // QR code (smaller, fixed size)
+  auto *qr = new SunnylinkCommunityQRWidget(this);
+  qr->setFixedSize(500, 500);
+  rightLayout->addStretch();
+  rightLayout->addWidget(qr, 0, Qt::AlignCenter);
+  rightLayout->addStretch();
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h

@@ -0,0 +1,40 @@
+/**
+* Copyright (c) 2025-, sunnypilot 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 <QrCode.hpp>
+#include <QtCore/qjsonobject.h>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+const QString SUNNYLINK_COMMUNITY_URL = "https://community.sunnypilot.ai/sp-qr";
+
+class SunnylinkCommunityQRWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityQRWidget(QWidget* parent = nullptr);
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QPixmap img;
+  void updateQrCode(const QString &text);
+  void showEvent(QShowEvent *event) override;
+};
+
+// Popup widget
+class SunnylinkCommunityPopup : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityPopup(QWidget* parent = nullptr);
+
+private:
+  static QStringList getInstructions();
+};

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

@@ -79,11 +79,11 @@ QStringList SunnylinkSponsorPopup::getInstructions(bool sponsor_pair) {
     instructions << tr("Scan the QR code to login to your GitHub account")
                  << tr("Follow the prompts to complete the pairing process")
                  << tr("Re-enter the \"sunnylink\" panel to verify sponsorship status")
-                 << tr("If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot");
+                 << tr("If sponsorship status was not updated, please contact a moderator on our forum at https://community.sunnypilot.ai");
   } else {
     instructions << tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page")
                  << tr("Choose your sponsorship tier and confirm your support")
-                 << tr("Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status");
+                 << tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues");
   }
   return instructions;
 }

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

@@ -90,7 +90,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
   sunnylinkUploaderEnabledBtn = new ParamControlSP(
     "EnableSunnylinkUploader",
-    tr("[Don't use] Enable sunnylink uploader"),
+    tr("Enable sunnylink uploader (infrastructure test)"),
     sunnylinkUploaderDesc,
     "", nullptr, true);
   list->addItem(sunnylinkUploaderEnabledBtn);
@@ -290,7 +290,10 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
-  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
+  bool can_do_uploads = max_current_sponsor_rule.roleTier >= SponsorTier::Novice && is_sunnylink_enabled;
+  sunnylinkUploaderEnabledBtn->setVisible(can_do_uploads);
+  sunnylinkUploaderEnabledBtn->setEnabled(can_do_uploads);
+  
 
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");

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

@@ -8,7 +8,41 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
 
 TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  constexpr int coopSteeringMinKmh = 23; // minimum speed for cooperative steering (enforced by Tesla firmware)
+  constexpr int oemSteeringMinKmh = 48; // minimum speed for OEM lane departure avoidance (enforced by Tesla firmware)
+  bool is_metric = params.getBool("IsMetric");
+  QString unit = is_metric ? "km/h" : "mph";
+  int display_value_coop;
+  int display_value_oem;
+  if (is_metric) {
+    display_value_coop = coopSteeringMinKmh;
+    display_value_oem = oemSteeringMinKmh;
+  } else {
+    display_value_coop = static_cast<int>(std::round(coopSteeringMinKmh * KM_TO_MILE));
+    display_value_oem = static_cast<int>(std::round(oemSteeringMinKmh * KM_TO_MILE));
+  }
+  const QString coop_desc = QString("<b>%1</b><br><br>"
+                                    "%2<br>"
+                                    "%3<br>")
+                            .arg(tr("Warning: May experience steering oscillations below %5 %6 during turns, recommend disabling this feature if you experience these."))
+                            .arg(tr("Allows the driver to provide limited steering input while openpilot is engaged."))
+                            .arg(tr("Only works above %4 %6."))
+                            .arg(display_value_coop)
+                            .arg(display_value_oem)
+                            .arg(unit);
+
+  coopSteeringToggle = new ParamControlSP(
+    "TeslaCoopSteering",
+    tr("Cooperative Steering (Beta)"),
+    coop_desc,
+    "",
+    this
+  );
+  list->addItem(coopSteeringToggle);
+  coopSteeringToggle->showDescription();
+  coopSteeringToggle->setConfirmation(true, false);
 }
 
 void TeslaSettings::updateSettings() {
+  coopSteeringToggle->setEnabled(offroad);
 }

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

@@ -22,5 +22,5 @@ public:
   void updateSettings() override;
 
 private:
-  bool offroad = false;
+  ParamControlSP *coopSteeringToggle = nullptr;
 };

sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.001.000"
+#define SUNNYPILOT_VERSION "2025.002.000"

sunnypilot/models/fetcher.py

@@ -116,7 +116,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v8.json"
 
   def __init__(self, params: Params):
     self.params = params

sunnypilot/models/tests/model_hash

@@ -1 +1 @@
-70406ab4dd66d0e384734a8a56632ae4a62bc9670c2e630a0f71588c4e212cd8
+5584d697233d147e0b6402e485b7cbf8fdddb70bde4b9e3b2f6919ed5f69475f

sunnypilot/selfdrive/car/interfaces.py

@@ -115,4 +115,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "SubaruStopAndGoManualParkingBrake",
   ])
 
+  # tesla
+  keys.extend([
+    "TeslaCoopSteering",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]

sunnypilot/selfdrive/locationd/tests/test_locationd.py

@@ -1,4 +1,5 @@
 import pytest
+import platform
 import json
 import random
 import time
@@ -12,6 +13,10 @@ from openpilot.common.transformations.coordinates import ecef2geodetic
 from openpilot.system.manager.process_config import managed_processes
 
 
+if platform.system() == 'Darwin':
+  pytest.skip("Skipping locationd test on macOS due to unsupported msgq.", allow_module_level=True)
+
+
 class TestLocationdProc:
   LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
               'accelerometer', 'gyroscope', 'magnetometer']