sunny said to split it, now he is going to say make separate pr... coming up

clean up
2026-06-20 01:02:07 +08:00 · 2025-10-13 13:40:48 -07:00 · 2025-10-13 13:16:35 -07:00 · 2025-10-13 12:55:55 -07:00 · 2025-10-13 12:55:55 -07:00 · 2025-10-13 12:55:55 -07:00
82 changed files with 1113 additions and 2122 deletions
@@ -3,4 +3,3 @@ REGIST
 PullRequest
 cancelled
 FOF
-NoO
@@ -79,7 +79,7 @@ jobs:
            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT

-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g');
            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
          fi
@@ -69,48 +69,6 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
-
-  enum AudibleAlert {
-    none @0;
-
-    engage @1;
-    disengage @2;
-    refuse @3;
-
-    warningSoft @4;
-    warningImmediate @5;
-
-    prompt @6;
-    promptRepeat @7;
-    promptDistracted @8;
-
-    # unused, these are reserved for upstream events so we don't collide
-    reserved9 @9;
-    reserved10 @10;
-    reserved11 @11;
-    reserved12 @12;
-    reserved13 @13;
-    reserved14 @14;
-    reserved15 @15;
-    reserved16 @16;
-    reserved17 @17;
-    reserved18 @18;
-    reserved19 @19;
-    reserved20 @20;
-    reserved21 @21;
-    reserved22 @22;
-    reserved23 @23;
-    reserved24 @24;
-    reserved25 @25;
-    reserved26 @26;
-    reserved27 @27;
-    reserved28 @28;
-    reserved29 @29;
-    reserved30 @30;
-
-    promptSingleLow @31;
-    promptSingleHigh @32;
-  }
 }

 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -192,6 +150,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  aTarget @5 :Float32;
  events @6 :List(OnroadEventSP.Event);
  e2eAlerts @7 :E2eAlerts;
+  accelPersonality @8 :AccelerationPersonality;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -294,6 +253,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
    greenLightAlert @0 :Bool;
    leadDepartAlert @1 :Bool;
  }
+  enum AccelerationPersonality {
+    sport @0;
+    normal @1;
+    eco @2;
+  }
 }

 struct OnroadEventSP @0xda96579883444c35 {
@@ -446,12 +410,12 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
+}

-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
+enum TurnDirection {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
 }

 struct CustomReserved10 @0xcb9fd56c7057593a {
@@ -130,6 +130,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"Version", {PERSISTENT, STRING}},

    // --- sunnypilot params --- //
+    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -154,16 +155,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "100"}},
    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "0"}},
    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -172,6 +172,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VibePersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VibeAccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VibeFollowPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -206,8 +209,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // sunnypilot car specific params
    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -15,8 +15,6 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"

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

 class TestMarkdown:
  def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
+    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
      release_notes = f.read().split("\n\n")
      assert len(release_notes) > 10

@@ -9,8 +9,6 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"

-#include "sunnypilot/common/version.h"
-
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -55,7 +53,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
    REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
    REQUIRE(ctx["dirty"].bool_value() == true);

-    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
+    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);

    std::string device = Hardware::get_name();
    REQUIRE(ctx["device"].string_value() == device);
@@ -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.

-# 339 Supported Cars
+# 337 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -21,10 +21,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -239,20 +236,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -311,6 +308,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Wildlander PHEV 2021|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Wildlander PHEV 2021">Buy Here</a></sub></details>|||
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -39,7 +39,7 @@ cd $BUILD_DIR
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed

-VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
+VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
@@ -49,7 +49,7 @@ rm -f panda/board/obj/panda.bin.signed
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')

 echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
 fi

 # "Tagging"
-echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
+echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h

 ## set git identity
 #source $DIR/identity.sh
@@ -55,7 +55,7 @@ git add -f .
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/common/version.h)

 # Commit with detailed message
 git commit -a -m "sunnypilot v$VERSION
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
-size 34638
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
-size 44416
@@ -88,7 +88,6 @@ class Car:
    self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])

    is_release = self.params.get_bool("IsReleaseBranch")
-    is_release_sp = self.params.get_bool("IsReleaseSpBranch")

    if CI is None:
      # wait for one pandaState and one CAN packet
@@ -111,7 +110,7 @@ class Car:
      init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)

      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
-                        fixed_fingerprint, init_params_list_sp, is_release_sp)
+                        fixed_fingerprint, init_params_list_sp)
      sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
      self.CP = self.CI.CP
@@ -151,7 +151,7 @@ class TestCarModelBase(unittest.TestCase):

    cls.CarInterface = interfaces[cls.platform]
    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, False, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, docs=False)
    assert cls.CP
    assert cls.CP_SP
    assert cls.CP.carFingerprint == cls.platform
@@ -99,6 +99,7 @@ class Controls(ControlsExt, ModelStateBase):

      self.LaC.extension.update_model_v2(self.sm['modelV2'])

+      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
      self.LaC.extension.update_lateral_lag(self.lat_delay)

    long_plan = self.sm['longitudinalPlan']
@@ -233,9 +234,6 @@ class Controls(ControlsExt, ModelStateBase):
    while not evt.is_set():
      self.get_params_sp()

-      if self.CP.lateralTuning.which() == 'torque':
-        self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
-
      time.sleep(0.1)

  def run(self):
@@ -6,7 +6,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTur

 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
-TurnDirection = custom.ModelDataV2SP.TurnDirection

 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
@@ -33,9 +32,9 @@ DESIRES = {
 }

 TURN_DESIRES = {
-  TurnDirection.none: log.Desire.none,
-  TurnDirection.turnLeft: log.Desire.turnLeft,
-  TurnDirection.turnRight: log.Desire.turnRight,
+  custom.TurnDirection.none: log.Desire.none,
+  custom.TurnDirection.turnLeft: log.Desire.turnLeft,
+  custom.TurnDirection.turnRight: log.Desire.turnRight,
 }


@@ -50,7 +49,7 @@ class DesireHelper:
    self.desire = log.Desire.none
    self.alc = AutoLaneChangeController(self)
    self.lane_turn_controller = LaneTurnController(self)
-    self.lane_turn_direction = TurnDirection.none
+    self.lane_turn_direction = custom.TurnDirection.none

  @staticmethod
  def get_lane_change_direction(CS):
@@ -127,7 +126,7 @@ class DesireHelper:

    self.prev_one_blinker = one_blinker

-    if self.lane_turn_direction != TurnDirection.none:
+    if self.lane_turn_direction != custom.TurnDirection.none:
      self.desire = TURN_DESIRES[self.lane_turn_direction]
    else:
      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
@@ -10,6 +10,8 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU

+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
+
 if __name__ == '__main__':  # generating code
  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
@@ -228,6 +230,7 @@ class LongitudinalMpc:
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
    self.source = SOURCES[2]
+    self.vibe_controller = VibePersonalityController()

  def reset(self):
    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
@@ -328,10 +331,18 @@ class LongitudinalMpc:
    return lead_xv

  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
-    t_follow = get_T_FOLLOW(personality)
    v_ego = self.x0[1]
+
+    # Get following distance
+    t_follow_vibe = self.vibe_controller.get_follow_distance_multiplier(v_ego)
+    t_follow = t_follow_vibe if t_follow_vibe is not None else get_T_FOLLOW(personality)
+
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status

+    # Get acceleration limits
+    accel_limits = self.vibe_controller.get_accel_limits(v_ego)
+    a_cruise_min = accel_limits[0] if accel_limits is not None else CRUISE_MIN_ACCEL
+
    lead_xv_0 = self.process_lead(radarstate.leadOne)
    lead_xv_1 = self.process_lead(radarstate.leadTwo)

@@ -350,7 +361,7 @@ class LongitudinalMpc:

      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
      # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
+      v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
      # TODO does this make sense when max_a is negative?
      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
@@ -405,7 +416,7 @@ class LongitudinalMpc:
      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
        self.source = 'lead0'
      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
-         (lead_1_obstacle[0] - lead_0_obstacle[0]):
+            (lead_1_obstacle[0] - lead_0_obstacle[0]):
        self.source = 'lead1'

  def run(self):
@@ -51,12 +51,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):


 class LongitudinalPlanner(LongitudinalPlannerSP):
-  def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
+  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
    self.CP = CP
    self.mpc = LongitudinalMpc(dt=dt)
    # TODO remove mpc modes when TR released
    self.mpc.mode = 'acc'
-    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
+    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
    self.fcw = False
    self.dt = dt
    self.allow_throttle = True
@@ -124,7 +124,11 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

    if mode == 'acc':
-      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+      accel_limits = self.vibe_controller.get_accel_limits(v_ego)
+      if accel_limits is not None:
+        accel_clip = [ACCEL_MIN, accel_limits[1]]
+      else:
+        accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
    else:
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from cereal import car, custom
+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
@@ -17,14 +17,10 @@ def main():
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("plannerd got CarParams: %s", CP.brand)

-  cloudlog.info("plannerd is waiting for CarParamsSP")
-  CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
-  cloudlog.info("plannerd got CarParamsSP")
-
  gps_location_service = get_gps_location_service(params)

  ldw = LaneDepartureWarning()
-  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
+  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],
@@ -24,7 +24,6 @@ from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroa
 from openpilot.system.version import get_build_metadata

 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
-from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
 from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
@@ -44,7 +43,6 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
-TurnDirection = custom.ModelDataV2SP.TurnDirection

 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)

@@ -132,12 +130,7 @@ class SelfdriveD(CruiseHelper):
    self.logged_comm_issue = None
    self.not_running_prev = None
    self.experimental_mode = False
-    self.personality = get_sanitize_int_param(
-      "LongitudinalPersonality",
-      min(log.LongitudinalPersonality.schema.enumerants.values()),
-      max(log.LongitudinalPersonality.schema.enumerants.values()),
-      self.params
-    )
+    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
    self.recalibrating_seen = False
    self.state_machine = StateMachine()
    self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -306,9 +299,9 @@ class SelfdriveD(CruiseHelper):

    # Handle lane turn
    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
-    if lane_turn_direction == TurnDirection.turnLeft:
+    if lane_turn_direction == custom.TurnDirection.turnLeft:
      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
-    elif lane_turn_direction == TurnDirection.turnRight:
+    elif lane_turn_direction == custom.TurnDirection.turnRight:
      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)

    for i, pandaState in enumerate(self.sm['pandaStates']):
@@ -51,9 +51,7 @@ class Plant:
    from opendbc.car.honda.values import CAR
    from opendbc.car.honda.interface import CarInterface

-    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
-    self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
+    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)

  @property
  def current_time(self):
@@ -32,11 +32,11 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {

  experimentalLongitudinalToggle = new ParamControl(
    "AlphaLongitudinalEnabled",
-    tr("sunnypilot Longitudinal Control (Alpha)"),
+    tr("openpilot Longitudinal Control (Alpha)"),
    QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
-              "Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
    ""
  );
  experimentalLongitudinalToggle->setConfirmation(true, false);
@@ -12,7 +12,7 @@ public:
  explicit DeveloperPanel(SettingsWindow *parent);
  void showEvent(QShowEvent *event) override;

-protected:
+private:
  Params params;
  ParamControl* adbToggle;
  ParamControl* joystickToggle;
@@ -33,6 +33,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/experimental_white.svg",
      false,
    },
+    {
+      "DynamicExperimentalControl",
+      tr("Enable Dynamic Experimental Control"),
+      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+      "../assets/offroad/icon_blank.png",
+      false,
+    },
    {
      "DisengageOnAccelerator",
      tr("Disengage on Accelerator Pedal"),
@@ -85,7 +92,15 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                             "your steering wheel distance button."),
                                          "../assets/icons/speed_limit.png",
                                          longi_button_texts);
-
+  // accel controller
+  std::vector<QString> accel_personality_texts{tr("Sport"), tr("Normal"), tr("Eco")};
+  accel_personality_setting = new ButtonParamControlSP("AccelPersonality", tr("Acceleration Personality"),
+                                          tr("Normal is recommended. In sport mode, sunnypilot will provide aggressive acceleration for a dynamic driving experience. "
+                                             "In eco mode, sunnypilot will apply smoother and more relaxed acceleration. On supported cars, you can cycle through these "
+                                             "acceleration personality within Onroad Settings on the driving screen."),
+                                          "",
+                                          accel_personality_texts);
+  accel_personality_setting->showDescription();
  // set up uiState update for personality setting
  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);

@@ -113,6 +128,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
    // insert longitudinal personality after NDOG toggle
    if (param == "DisengageOnAccelerator") {
      addItem(long_personality_setting);
+      addItem(accel_personality_setting);
    }
  }

@@ -133,6 +149,13 @@ void TogglesPanel::updateState(const UIState &s) {
    }
    uiState()->scene.personality = personality;
  }
+  if (sm.updated("longitudinalPlanSP")) {
+    auto accel_personality = sm["longitudinalPlanSP"].getLongitudinalPlanSP().getAccelPersonality();
+    if (accel_personality != s.scene.accel_personality && s.scene.started && isVisible()) {
+      accel_personality_setting->setCheckedButton(static_cast<int>(accel_personality));
+    }
+    uiState()->scene.accel_personality = accel_personality;
+  }
 }

 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -179,16 +202,18 @@ void TogglesPanel::updateToggles() {
      experimental_mode_toggle->setEnabled(true);
      experimental_mode_toggle->setDescription(e2e_description);
      long_personality_setting->setEnabled(true);
+      accel_personality_setting->setEnabled(true);
    } else {
      // no long for now
      experimental_mode_toggle->setEnabled(false);
      long_personality_setting->setEnabled(false);
+      accel_personality_setting->setEnabled(true);
      params.remove("ExperimentalMode");

      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");

      QString long_desc = unavailable + " " + \
-                          tr("sunnypilot longitudinal control may come in a future update.");
+                          tr("openpilot longitudinal control may come in a future update.");
      if (CP.getAlphaLongitudinalAvailable()) {
        if (is_release) {
          long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
@@ -88,6 +88,7 @@ protected:
  Params params;
  std::map<std::string, ParamControl*> toggles;
  ButtonParamControl *long_personality_setting;
+  ButtonParamControl *accel_personality_setting;

  virtual void updateToggles();
 };
@@ -22,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {

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

  if (longitudinal_control && sm.alive("radarState")) {
    update_leads(radar_state, model.getPosition());
@@ -173,6 +173,7 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
      (1 - t) * start.alphaF() + t * end.alphaF());
 }

+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
  const float speedBuff = 10.;
@@ -39,6 +39,9 @@ protected:
  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
  void drawLaneLines(QPainter &painter);
  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
+    drawPath(painter, model, surface_rect.height());
+  }
  void updatePathGradient(QLinearGradient &bg);
  QColor blendColors(const QColor &start, const QColor &end, float t);

@@ -55,4 +58,5 @@ protected:
  QPointF lead_vertices[2] = {};
  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
  QRectF clip_region;
+
 };
@@ -4,7 +4,7 @@ import time
 import wave


-from cereal import car, messaging, custom
+from cereal import car, messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
@@ -26,15 +26,8 @@ AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied

 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert


-sound_list_sp: dict[int, tuple[str, int | None, float]] = {
-  # AudibleAlertSP, file name, play count (none for infinite)
-  AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
-  AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
-}
-
 sound_list: dict[int, tuple[str, int | None, float]] = {
  # AudibleAlert, file name, play count (none for infinite)
  AudibleAlert.engage: ("engage.wav", 1, MAX_VOLUME),
@@ -47,8 +40,6 @@ sound_list: dict[int, tuple[str, int | None, float]] = {

  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
-
-  **sound_list_sp,
 }

 def check_selfdrive_timeout_alert(sm):
@@ -60,7 +60,7 @@ DeveloperPanelSP::DeveloperPanelSP(SettingsWindow *parent) : DeveloperPanel(pare

 void DeveloperPanelSP::updateToggles(bool offroad) {
  bool disable_updates = params.getBool("DisableUpdates");
-  bool is_release = params.getBool("IsReleaseBranch") || params.getBool("IsReleaseSpBranch");
+  bool is_release = params.getBool("IsReleaseBranch");
  bool is_tested = params.getBool("IsTestedBranch");
  bool is_development = params.getBool("IsDevelopmentBranch");

@@ -79,9 +79,6 @@ void DeveloperPanelSP::updateToggles(bool offroad) {
  enableGithubRunner->setVisible(!is_release);
  errorLogBtn->setVisible(!is_release);
  showAdvancedControls->setEnabled(true);
-
-  joystickToggle->setVisible(!is_release);
-  longManeuverToggle->setVisible(!is_release);
 }

 void DeveloperPanelSP::showEvent(QShowEvent *event) {
@@ -29,7 +29,7 @@ OnroadScreenBrightnessControl::OnroadScreenBrightnessControl(const QString &para
    "Onroad Brightness",
    "",
    "",
-    {0, 90}, 10, true);
+    {0, 100}, 10, true);

  connect(onroadScreenOffTimer, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
  connect(onroadScreenBrightness, &OptionControlSP::updateLabels, this, &OnroadScreenBrightnessControl::refresh);
@@ -13,9 +13,9 @@ enum class SpeedLimitOffsetType {
 };

 inline const QString SpeedLimitOffsetTypeTexts[]{
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "None"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Fixed"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Percent"),
+  QObject::tr("None"),
+  QObject::tr("Fixed"),
+  QObject::tr("Percent"),
 };

 enum class SpeedLimitSourcePolicy {
@@ -27,11 +27,11 @@ enum class SpeedLimitSourcePolicy {
 };

 inline const QString SpeedLimitSourcePolicyTexts[]{
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nOnly"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nOnly"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Car\nFirst"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Map\nFirst"),
-  QT_TRANSLATE_NOOP("SpeedLimitPolicy", "Combined\nData")
+  QObject::tr("Car\nOnly"),
+  QObject::tr("Map\nOnly"),
+  QObject::tr("Car\nFirst"),
+  QObject::tr("Map\nFirst"),
+  QObject::tr("Combined\nData")
 };

 enum class SpeedLimitMode {
@@ -42,8 +42,8 @@ enum class SpeedLimitMode {
 };

 inline const QString SpeedLimitModeTexts[]{
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Off"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Information"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Warning"),
-  QT_TRANSLATE_NOOP("SpeedLimitSettings", "Assist"),
+  QObject::tr("Off"),
+  QObject::tr("Information"),
+  QObject::tr("Warning"),
+  QObject::tr("Assist"),
 };
@@ -23,11 +23,11 @@ SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
  ListWidgetSP *list = new ListWidgetSP(this);

  std::vector<QString> speed_limit_policy_texts{
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)].toStdString().c_str()),
-    tr(SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)].toStdString().c_str())
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_ONLY)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_ONLY)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::CAR_FIRST)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::MAP_FIRST)],
+    SpeedLimitSourcePolicyTexts[static_cast<int>(SpeedLimitSourcePolicy::COMBINED)]
  };
  speed_limit_policy = new ButtonParamControlSP(
    "SpeedLimitPolicy",
@@ -7,8 +7,6 @@

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

-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
 SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent) {
  subPanelFrame = new QFrame();
  QVBoxLayout *subPanelLayout = new QVBoxLayout(subPanelFrame);
@@ -27,10 +25,10 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
  speedLimitPolicyScreen = new SpeedLimitPolicy(this);

  std::vector<QString> speed_limit_mode_texts{
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)].toStdString().c_str()),
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)].toStdString().c_str()),
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)].toStdString().c_str()),
-    tr(SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)].toStdString().c_str())
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)],
  };
  speed_limit_mode_settings = new ButtonParamControlSP(
    "SpeedLimitMode",
@@ -66,9 +64,9 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
  QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);

  std::vector<QString> speed_limit_offset_texts{
-    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)].toStdString().c_str()),
-    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)].toStdString().c_str()),
-    tr(SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)].toStdString().c_str())
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::NONE)],
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::FIXED)],
+    SpeedLimitOffsetTypeTexts[static_cast<int>(SpeedLimitOffsetType::PERCENT)]
  };
  speed_limit_offset_settings = new ButtonParamControlSP(
    "SpeedLimitOffsetType",
@@ -105,13 +103,13 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 }

 void SpeedLimitSettings::refresh() {
-  bool is_release = params.getBool("IsReleaseSpBranch");
  bool is_metric_param = params.getBool("IsMetric");
  SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
  SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
  QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));

-  bool sla_available;
+  bool has_longitudinal_control;
+  bool intelligent_cruise_button_management_available;
  auto cp_bytes = params.get("CarParamsPersistent");
  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -122,24 +120,11 @@ void SpeedLimitSettings::refresh() {
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();

-    bool has_longitudinal_control = hasLongitudinalControl(CP);
-    bool has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
-
-    /*
-     * Speed Limit Assist is available when:
-     * - has_longitudinal_control or has_icbm, and
-     * - is not a release branch or not a disallowed brand, and
-     * - is not always disallowed
-     */
-    bool sla_disallow_in_release = CP.getBrand() == "tesla" && is_release;
-    bool sla_always_disallow = CP.getBrand() == "rivian";
-    sla_available = (has_longitudinal_control || has_icbm) && !sla_disallow_in_release && !sla_always_disallow;
-
-    if (!sla_available && speed_limit_mode_param == SpeedLimitMode::ASSIST) {
-      params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
-    }
+    has_longitudinal_control = hasLongitudinalControl(CP);
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
  } else {
-    sla_available = false;
+    has_longitudinal_control = false;
+    intelligent_cruise_button_management_available = false;
  }

  speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
@@ -159,14 +144,13 @@ void SpeedLimitSettings::refresh() {
    speed_limit_offset->showDescription();
  }

-  if (sla_available) {
+  if (has_longitudinal_control || intelligent_cruise_button_management_available) {
    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(getSpeedLimitModeValues()));
  } else {
    speed_limit_mode_settings->setEnableSelectedButtons(true, convertSpeedLimitModeValues(
-      {SpeedLimitMode::OFF, SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
+      {SpeedLimitMode::OFF,SpeedLimitMode::INFORMATION, SpeedLimitMode::WARNING}));
  }

-  speed_limit_mode_settings->refresh();
  speed_limit_mode_settings->showDescription();
  speed_limit_offset->showDescription();
 }
@@ -35,7 +35,6 @@ private:
  SpeedLimitPolicy *speedLimitPolicyScreen;
  ButtonParamControlSP *speed_limit_offset_settings;
  OptionControlSP *speed_limit_offset;
-  bool icbm_available = false;

  static QString offsetDescription(SpeedLimitOffsetType type = SpeedLimitOffsetType::NONE) {
    QString none_str = tr("⦿ None: No Offset");
@@ -7,8 +7,6 @@

 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"

-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
 LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
  setStyleSheet(R"(
    #back_btn {
@@ -38,24 +36,13 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
  intelligentCruiseButtonManagement = new ParamControlSP(
    "IntelligentCruiseButtonManagement",
    tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
-    "",
+    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
    "",
    this
  );
-  QObject::connect(intelligentCruiseButtonManagement, &ParamControlSP::toggleFlipped, this, [=](bool) {
-    refresh(offroad);
-  });
+  intelligentCruiseButtonManagement->setConfirmation(true, false);
  list->addItem(intelligentCruiseButtonManagement);

-  dynamicExperimentalControl = new ParamControlSP(
-    "DynamicExperimentalControl",
-    tr("Dynamic Experimental Control (DEC)"),
-    tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-    "",
-    this
-  );
-  list->addItem(dynamicExperimentalControl);
-
  SmartCruiseControlVision = new ParamControl(
    "SmartCruiseControlVision",
    tr("Smart Cruise Control - Vision"),
@@ -88,6 +75,35 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
    main_layout->setCurrentWidget(cruisePanelScreen);
  });

+
+  // Vibe Personality Controller
+  vibePersonalityControl = new ParamControlSP("VibePersonalityEnabled",
+    tr("Vibe Personality Controller"),
+    tr("Advanced driving personality system with separate controls for acceleration behavior (Eco/Normal/Sport) and following distance/braking (Relaxed/Standard/Aggressive). "
+      "Customize your driving experience with independent acceleration and distance personalities."),
+    "../assets/offroad/icon_shell.png");
+  list->addItem(vibePersonalityControl);
+
+  connect(vibePersonalityControl, &ParamControlSP::toggleFlipped, [=]() {
+    refresh(offroad);
+  });
+
+  // Vibe Acceleration Personality
+  vibeAccelPersonalityControl = new ParamControlSP("VibeAccelPersonalityEnabled",
+    tr("Acceleration Personality"),
+    tr("Controls acceleration behavior: Eco (efficient), Normal (balanced), Sport (responsive). "
+      "Adjust how aggressively the vehicle accelerates while maintaining smooth operation."),
+    "../assets/offroad/icon_shell.png");
+  list->addItem(vibeAccelPersonalityControl);
+
+  // Vibe Following Distance Personality
+  vibeFollowPersonalityControl = new ParamControlSP("VibeFollowPersonalityEnabled",
+    tr("Following Distance Personality"),
+    tr("Controls following distance and braking behavior: Relaxed (longer distance, gentler braking), Standard (balanced), Aggressive (shorter distance, firmer braking). "
+      "Fine-tune your comfort level in traffic situations."),
+    "../assets/offroad/icon_shell.png");
+  list->addItem(vibeFollowPersonalityControl);
+
  main_layout->addWidget(cruisePanelScreen);
  main_layout->addWidget(speedLimitScreen);
  main_layout->setCurrentWidget(cruisePanelScreen);
@@ -104,8 +120,6 @@ void LongitudinalPanel::hideEvent(QHideEvent *event) {
 }

 void LongitudinalPanel::refresh(bool _offroad) {
-  const QString icbm_description = tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control.");
-
  auto cp_bytes = params.get("CarParamsPersistent");
  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -118,61 +132,15 @@ void LongitudinalPanel::refresh(bool _offroad) {

    has_longitudinal_control = hasLongitudinalControl(CP);
    is_pcm_cruise = CP.getPcmCruise();
-    has_icbm = hasIntelligentCruiseButtonManagement(CP_SP);
-
-    if (CP_SP.getIntelligentCruiseButtonManagementAvailable() && !has_longitudinal_control) {
-      intelligentCruiseButtonManagement->setEnabled(offroad);
-      intelligentCruiseButtonManagement->setDescription(icbm_description);
-    } else {
-      params.remove("IntelligentCruiseButtonManagement");
-      intelligentCruiseButtonManagement->setEnabled(false);
-
-      const QString icbm_unavaialble = tr("Intelligent Cruise Button Management is currently unavailable on this platform.");
-
-      QString long_desc = icbm_unavaialble;
-      if (has_longitudinal_control) {
-        if (CP.getAlphaLongitudinalAvailable()) {
-          long_desc = icbm_unavaialble + " " + tr("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.");
-        } else {
-          long_desc = icbm_unavaialble + " " + tr("sunnypilot Longitudinal Control is the default longitudinal control for this platform.");
-        }
-      }
-
-      intelligentCruiseButtonManagement->setDescription("<b>" + long_desc + "</b><br><br>" + icbm_description);
-      intelligentCruiseButtonManagement->showDescription();
-    }
-
-    if (has_longitudinal_control || has_icbm) {
-      // enable Custom ACC Increments when long is available and is not PCM cruise
-      customAccIncrement->setEnabled(((has_longitudinal_control && !is_pcm_cruise) || has_icbm) && offroad);
-      dynamicExperimentalControl->setEnabled(has_longitudinal_control);
-      SmartCruiseControlVision->setEnabled(true);
-      SmartCruiseControlMap->setEnabled(true);
-    } else {
-      params.remove("CustomAccIncrementsEnabled");
-      params.remove("DynamicExperimentalControl");
-      params.remove("SmartCruiseControlVision");
-      params.remove("SmartCruiseControlMap");
-      customAccIncrement->setEnabled(false);
-      dynamicExperimentalControl->setEnabled(false);
-      SmartCruiseControlVision->setEnabled(false);
-      SmartCruiseControlMap->setEnabled(false);
-    }
-
-    intelligentCruiseButtonManagement->refresh();
-    customAccIncrement->refresh();
-    dynamicExperimentalControl->refresh();
-    SmartCruiseControlVision->refresh();
-    SmartCruiseControlMap->refresh();
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
  } else {
    has_longitudinal_control = false;
    is_pcm_cruise = false;
-    has_icbm = false;
-    intelligentCruiseButtonManagement->setDescription("<b>" + tr("Start the vehicle to check vehicle compatibility.") + "</br><b><b>" + icbm_description);
+    intelligent_cruise_button_management_available = false;
  }

  QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
-  QString accNoLongDescription = tr("This feature can only be used with sunnypilot longitudinal control enabled.");
+  QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
  QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
  QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");

@@ -180,19 +148,48 @@ void LongitudinalPanel::refresh(bool _offroad) {
    customAccIncrement->setDescription(onroadOnlyDescription);
    customAccIncrement->showDescription();
  } else {
-    if (has_longitudinal_control || has_icbm) {
-      if (has_longitudinal_control && is_pcm_cruise) {
+    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+      if (is_pcm_cruise) {
        customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
        customAccIncrement->showDescription();
      } else {
        customAccIncrement->setDescription(accEnabledDescription);
      }
    } else {
+      params.remove("CustomAccIncrementsEnabled");
      customAccIncrement->toggleFlipped(false);
      customAccIncrement->setDescription(accNoLongDescription);
      customAccIncrement->showDescription();
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->toggleFlipped(false);
    }
  }
+  bool vibePersonalityEnabled = params.getBool("VibePersonalityEnabled");
+  if (vibePersonalityEnabled) {
+    vibeAccelPersonalityControl->setVisible(true);
+    vibeFollowPersonalityControl->setVisible(true);
+  } else {
+    vibeAccelPersonalityControl->setVisible(false);
+    vibeFollowPersonalityControl->setVisible(false);
+  }
+
+  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
+
+  // enable toggle when long is available and is not PCM cruise
+  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
+  customAccIncrement->setEnabled(cai_allowed && !offroad);
+  customAccIncrement->refresh();
+
+  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
+  SmartCruiseControlMap->setEnabled(has_longitudinal_control || icbm_allowed);
+  // Vibe Personality controls - always enabled for toggling
+  vibePersonalityControl->setEnabled(true);
+  vibeAccelPersonalityControl->setEnabled(true);
+  vibeFollowPersonalityControl->setEnabled(true);
+  vibePersonalityControl->refresh();
+  vibeAccelPersonalityControl->refresh();
+  vibeFollowPersonalityControl->refresh();

  offroad = _offroad;
 }
@@ -25,7 +25,7 @@ private:
  Params params;
  bool has_longitudinal_control = false;
  bool is_pcm_cruise = false;
-  bool has_icbm = false;
+  bool intelligent_cruise_button_management_available = false;;
  bool offroad = false;

  QStackedLayout *main_layout = nullptr;
@@ -35,7 +35,10 @@ private:
  ParamControl *SmartCruiseControlVision;
  ParamControl *SmartCruiseControlMap;
  ParamControl *intelligentCruiseButtonManagement = nullptr;
-  ParamControl *dynamicExperimentalControl = nullptr;
  SpeedLimitSettings *speedLimitScreen;
  PushButtonSP *speedLimitSettings;
+
+  ParamControlSP *vibePersonalityControl;
+  ParamControlSP *vibeAccelPersonalityControl;
+  ParamControlSP *vibeFollowPersonalityControl;
 };
@@ -33,7 +33,7 @@ private:

  static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
    if (!_has_longitudinal_control) {
-      return tr("This feature can only be used with sunnypilot longitudinal control enabled.");
+      return tr("This feature can only be used with openpilot longitudinal control enabled.");
    }

    if (!_offroad) {
@@ -57,7 +57,7 @@ private:
    }

    return QString("%1<br><br>%2<br>%3<br>%4<br>")
-             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with sunnypilot longitudinal control."))
+             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
             .arg(off_str)
             .arg(dynamic_str)
             .arg(predictive_str);
@@ -8,52 +8,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"

 SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  stopAndGoToggle = new ParamControl("SubaruStopAndGo", tr("Stop and Go (Beta)"), "", "");
-  stopAndGoToggle->setConfirmation(true, false);
-  list->addItem(stopAndGoToggle);
-
-  stopAndGoManualParkingBrakeToggle = new ParamControl(
-    "SubaruStopAndGoManualParkingBrake",
-    tr("Stop and Go for Manual Parking Brake (Beta)"),
-    "",
-    ""
-  );
-  stopAndGoManualParkingBrakeToggle->setConfirmation(true, false);
-  list->addItem(stopAndGoManualParkingBrakeToggle);
 }

 void SubaruSettings::updateSettings() {
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    is_subaru = CP.getBrand() == "subaru";
-
-    if (is_subaru) {
-      if (!(CP.getFlags() & (SUBARU_FLAG_GLOBAL_GEN2 | SUBARU_FLAG_HYBRID))) {
-        has_stop_and_go = true;
-      }
-    }
-  } else {
-    is_subaru = false;
-    has_stop_and_go = false;
-  }
-
-  bool stop_and_go_disabled = !offroad || !has_stop_and_go;
-  QString stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc);
-  QString stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc);
-  if (stop_and_go_disabled) {
-    stop_and_go_desc = stopAndGoDescriptionBuilder(stopAndGoDesc, stopAndGoDisabledMsg());
-    stop_and_go_manual_parking_brake_desc = stopAndGoDescriptionBuilder(stopAndGoManualParkingBrakeDesc, stopAndGoDisabledMsg());
-  }
-
-  stopAndGoToggle->setEnabled(has_stop_and_go);
-  stopAndGoToggle->setDescription(stop_and_go_desc);
-  stopAndGoToggle->showDescription();
-
-  stopAndGoManualParkingBrakeToggle->setEnabled(has_stop_and_go);
-  stopAndGoManualParkingBrakeToggle->setDescription(stop_and_go_manual_parking_brake_desc);
-  stopAndGoManualParkingBrakeToggle->showDescription();
 }
@@ -14,9 +14,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"

-const int SUBARU_FLAG_GLOBAL_GEN2 = 4;
-const int SUBARU_FLAG_HYBRID = 32;
-
 class SubaruSettings : public BrandSettingsInterface {
  Q_OBJECT

@@ -26,32 +23,4 @@ public:

 private:
  bool offroad = false;
-  bool is_subaru;
-  bool has_stop_and_go;
-
-  ParamControl* stopAndGoToggle;
-  ParamControl* stopAndGoManualParkingBrakeToggle;
-
-  QString stopAndGoDesc = tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms.");
-  QString stopAndGoManualParkingBrakeDesc = tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!");
-
-  QString stopAndGoDisabledMsg() const {
-    if (is_subaru && !has_stop_and_go) {
-      return tr("This feature is currently not available on this platform.");
-    }
-
-    if (!is_subaru) {
-      return tr("Start the car to check car compatibility.");
-    }
-
-    if (!offroad) {
-      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.");
-    }
-
-    return QString();
-  }
-
-  static QString stopAndGoDescriptionBuilder(const QString &base_description, const QString &custom_description = "") {
-    return "<b>" + custom_description + "</b><br><br>" + base_description;
-  }
 };
@@ -119,7 +119,7 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  // Visuals: Display Metrics below Chevron
  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
  chevron_info_settings = new ButtonParamControlSP(
-    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control)."),
+    "ChevronInfo", tr("Display Metrics Below Chevron"), tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control)."),
    "",
    chevron_info_settings_texts,
    200);
@@ -159,8 +159,8 @@ void VisualsPanel::refreshLongitudinalStatus() {
  }

  if (chevron_info_settings) {
-    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with sunnypilot longitudinal control).");
-    QString chevronNoLongDescription = tr("This feature requires sunnypilot longitudinal control to be available.");
+    QString chevronEnabledDescription = tr("Display useful metrics below the chevron that tracks the lead car (only applicable to cars with openpilot longitudinal control).");
+    QString chevronNoLongDescription = tr("This feature requires openpilot longitudinal control to be available.");

    if (has_longitudinal_control) {
      chevron_info_settings->setDescription(chevronEnabledDescription);
@@ -12,65 +12,43 @@


 HudRendererSP::HudRendererSP() {
-  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {90, 90});
-  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {90, 90});
+  plus_arrow_up_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_plus_arrow_up", {105, 105});
+  minus_arrow_down_img = loadPixmap("../../sunnypilot/selfdrive/assets/img_minus_arrow_down", {105, 105});

-  int size = e2e_alert_size * 2 - 40;
-  green_light_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {size, size});
-  lead_depart_alert_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {size, size});
+  int small_max = e2e_alert_small * 2 - 40;
+  int large_max = e2e_alert_large * 2 - 40;
+  green_light_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {small_max, small_max});
+  green_light_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/green_light.png", {large_max, large_max});
+  lead_depart_alert_small_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {small_max, small_max});
+  lead_depart_alert_large_img = loadPixmap("../../sunnypilot/selfdrive/assets/images/lead_depart.png", {large_max, large_max});
 }

 void HudRendererSP::updateState(const UIState &s) {
  HudRenderer::updateState(s);

-  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
-  devUiInfo = s.scene.dev_ui_info;
-  roadName = s.scene.road_name;
-  showTurnSignals = s.scene.turn_signals;
-  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
-  speedUnit = is_metric ? tr("km/h") : tr("mph");
-  standstillTimer = s.scene.standstill_timer;
-
  const SubMaster &sm = *(s.sm);
  const auto cs = sm["controlsState"].getControlsState();
  const auto car_state = sm["carState"].getCarState();
  const auto car_control = sm["carControl"].getCarControl();
  const auto radar_state = sm["radarState"].getRadarState();
  const auto is_gps_location_external = sm.rcv_frame("gpsLocationExternal") > 1;
-  const char *gps_source = is_gps_location_external ? "gpsLocationExternal" : "gpsLocation";
-  const auto gpsLocation = is_gps_location_external ? sm[gps_source].getGpsLocationExternal() : sm[gps_source].getGpsLocation();
+  const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
  const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
  const auto car_params = sm["carParams"].getCarParams();
-  const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
  const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
  const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();

-  if (sm.updated("carParams")) {
-    steerControlType = car_params.getSteerControlType();
-  }
-
-  if (sm.updated("carParamsSP")) {
-    pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
-  }
-
-  if (sm.updated("longitudinalPlanSP")) {
-    speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
-    speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
-    speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
-    speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
-    speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
-    speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
-    speedLimitSource = lp_sp.getSpeedLimit().getResolver().getSource();
-    speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
-    speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
-    smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
-    smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
-    smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
-    smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
-  }
-  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
-  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();
-
+  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
+  speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+  speedLimitLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLast() * speedConv;
+  speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+  speedLimitValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitValid();
+  speedLimitLastValid = lp_sp.getSpeedLimit().getResolver().getSpeedLimitLastValid();
+  speedLimitFinalLast = lp_sp.getSpeedLimit().getResolver().getSpeedLimitFinalLast() * speedConv;
+  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  speedLimitAssistState = lp_sp.getSpeedLimit().getAssist().getState();
+  speedLimitAssistActive = lp_sp.getSpeedLimit().getAssist().getActive();
+  roadName = s.scene.road_name;
  if (sm.updated("liveMapDataSP")) {
    roadNameStr = QString::fromStdString(lmd.getRoadName());
    speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
@@ -86,7 +64,7 @@ void HudRendererSP::updateState(const UIState &s) {

  static int reverse_delay = 0;
  bool reverse_allowed = false;
-  if (car_state.getGearShifter() != cereal::CarState::GearShifter::REVERSE) {
+  if (int(car_state.getGearShifter()) != 4) {
    reverse_delay = 0;
    reverse_allowed = false;
  } else {
@@ -98,47 +76,46 @@ void HudRendererSP::updateState(const UIState &s) {

  reversing = reverse_allowed;

-  if (sm.updated("liveParameters")) {
-    roll = sm["liveParameters"].getLiveParameters().getRoll();
-  }
-
-  if (sm.updated("deviceState")) {
-    memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
-  }
-
-  if (sm.updated(gps_source)) {
-    gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
-    altitude = gpsLocation.getAltitude();
-    bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
-    bearingDeg = gpsLocation.getBearingDeg();
-  }
-
-  if (sm.updated("liveTorqueParameters")) {
-    torquedUseParams = ltp.getUseParams();
-    latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
-    frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
-    liveValid = ltp.getLiveValid();
-  }
-
  latActive = car_control.getLatActive();
-  actuators = car_control.getActuators();
-  longOverride = car_control.getCruiseControl().getOverride();
-  carControlEnabled = car_control.getEnabled();
-
  steerOverride = car_state.getSteeringPressed();
+
+  devUiInfo = s.scene.dev_ui_info;
+
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
  lead_d_rel = radar_state.getLeadOne().getDRel();
  lead_v_rel = radar_state.getLeadOne().getVRel();
  lead_status = radar_state.getLeadOne().getStatus();
+  steerControlType = car_params.getSteerControlType();
+  actuators = car_control.getActuators();
  torqueLateral = steerControlType == cereal::CarParams::SteerControlType::TORQUE;
  angleSteers = car_state.getSteeringAngleDeg();
  desiredCurvature = cs.getDesiredCurvature();
  curvature = cs.getCurvature();
+  roll = sm["liveParameters"].getLiveParameters().getRoll();
+  memoryUsagePercent = sm["deviceState"].getDeviceState().getMemoryUsagePercent();
+  gpsAccuracy = is_gps_location_external ? gpsLocation.getHorizontalAccuracy() : 1.0;  // External reports accuracy, internal does not.
+  altitude = gpsLocation.getAltitude();
  vEgo = car_state.getVEgo();
  aEgo = car_state.getAEgo();
  steeringTorqueEps = car_state.getSteeringTorqueEps();
+  bearingAccuracyDeg = gpsLocation.getBearingAccuracyDeg();
+  bearingDeg = gpsLocation.getBearingDeg();
+  torquedUseParams = ltp.getUseParams();
+  latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
+  frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
+  liveValid = ltp.getLiveValid();

+  standstillTimer = s.scene.standstill_timer;
  isStandstill = car_state.getStandstill();
-  if (!s.scene.started) standstillElapsedTime = 0.0;
+  if (not s.scene.started) standstillElapsedTime = 0.0;
+  longOverride = car_control.getCruiseControl().getOverride();
+  smartCruiseControlVisionEnabled = lp_sp.getSmartCruiseControl().getVision().getEnabled();
+  smartCruiseControlVisionActive = lp_sp.getSmartCruiseControl().getVision().getActive();
+  smartCruiseControlMapEnabled = lp_sp.getSmartCruiseControl().getMap().getEnabled();
+  smartCruiseControlMapActive = lp_sp.getSmartCruiseControl().getMap().getActive();
+
+  greenLightAlert = lp_sp.getE2eAlerts().getGreenLightAlert();
+  leadDepartAlert = lp_sp.getE2eAlerts().getLeadDepartAlert();

  // override stock current speed values
  float v_ego = (v_ego_cluster_seen && !s.scene.trueVEgoUI) ? car_state.getVEgoCluster() : car_state.getVEgo();
@@ -149,11 +126,10 @@ void HudRendererSP::updateState(const UIState &s) {
  rightBlinkerOn = car_state.getRightBlinker();
  leftBlindspot = car_state.getLeftBlindspot();
  rightBlindspot = car_state.getRightBlindspot();
+  showTurnSignals = s.scene.turn_signals;

+  carControlEnabled = car_control.getEnabled();
  speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
-
-  allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
-                     sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
 }

 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -246,7 +222,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
    drawRoadName(p, surface_rect);

    // Green Light & Lead Depart Alerts
-    if (greenLightAlert || leadDepartAlert) {
+    if (greenLightAlert or leadDepartAlert) {
      e2eAlertDisplayTimer = 3 * UI_FREQ;
      // reset onroad sleep timer for e2e alerts
      uiStateSP()->reset_onroad_sleep_timer();
@@ -256,11 +232,11 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
      e2eAlertFrame++;
      if (greenLightAlert) {
        alert_text = tr("GREEN\nLIGHT");
-        alert_img = green_light_alert_img;
+        alert_img = devUiInfo > 0 ? green_light_alert_small_img : green_light_alert_large_img;
      }
      else if (leadDepartAlert) {
        alert_text = tr("LEAD VEHICLE\nDEPARTING");
-        alert_img = lead_depart_alert_img;
+        alert_img = devUiInfo > 0 ? lead_depart_alert_small_img : lead_depart_alert_large_img;
      }
      drawE2eAlert(p, surface_rect);
    }
@@ -278,7 +254,7 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
    // No Alerts displayed
    else {
      e2eAlertFrame = 0;
-      if (!isStandstill) standstillElapsedTime = 0.0;
+      if (not isStandstill) standstillElapsedTime = 0.0;
    }

    // Blinker
@@ -569,8 +545,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p, QRect &sign_rect) {
 }

 void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
-  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0 &&
-                           speedLimitSource == cereal::LongitudinalPlanSP::SpeedLimit::Source::MAP;
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
  if (!speed_limit_ahead) {
    return;
  }
@@ -664,7 +639,7 @@ void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {

 void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect) {
  const int sign_margin = 12;
-  const int arrow_spacing = sign_margin * 1.4;
+  const int arrow_spacing = sign_margin * 3;
  int arrow_x = sign_rect.right() + arrow_spacing;

  int _set_speed = std::nearbyint(set_speed);
@@ -714,7 +689,7 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
  }

  // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-  if (!pcmCruiseSpeed && carControlEnabled) {
+  if (carControlEnabled) {
    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
      icbm_active_counter = 3 * UI_FREQ;
    } else if (icbm_active_counter > 0) {
@@ -739,26 +714,26 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
 }

 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
-  if (!allow_e2e_alerts) return;
-
-  int x = surface_rect.right() - e2e_alert_size - (devUiInfo > 0 ? 180 : 100) - (UI_BORDER_SIZE * 3);
+  int size = devUiInfo > 0 ? e2e_alert_small : e2e_alert_large;
+  int x = surface_rect.center().x() + surface_rect.width() / 4;
  int y = surface_rect.center().y() + 20;
-  QRect alertRect(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2);
+  x += devUiInfo > 0 ? 0 : 50;
+  QRect alertRect(x - size, y - size, size * 2, size * 2);

  // Alert Circle
  QPoint center = alertRect.center();
  QColor frameColor;
-  if (!alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
+  if (not alert_alt_text.isEmpty()) frameColor = QColor(255, 255, 255, 75);
  else frameColor = pulseElement(e2eAlertFrame) ? QColor(255, 255, 255, 75) : QColor(0, 255, 0, 75);
  p.setPen(QPen(frameColor, 15));
  p.setBrush(QColor(0, 0, 0, 190));
-  p.drawEllipse(center, e2e_alert_size, e2e_alert_size);
+  p.drawEllipse(center, size, size);

  // Alert Text
  QColor txtColor;
  QFont font;
  int alert_bottom_adjustment;
-  if (!alert_alt_text.isEmpty()) {
+  if (not alert_alt_text.isEmpty()) {
    font = InterFont(100, QFont::Bold);
    alert_bottom_adjustment = 5;
    txtColor = QColor(255, 255, 255, 255);
@@ -775,7 +750,7 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q
  textRect.moveBottom(alertRect.bottom() - alertRect.height() / alert_bottom_adjustment);
  p.drawText(textRect, Qt::AlignCenter, alert_text);

-  if (!alert_alt_text.isEmpty()) {
+  if (not alert_alt_text.isEmpty()) {
    // Alert Alternate Text
    p.setFont(InterFont(80, QFont::Bold));
    p.setPen(QColor(255, 175, 3, 240));
@@ -804,7 +779,7 @@ void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {

 void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
  const bool hazard = leftBlinkerOn && rightBlinkerOn;
-  int blinkerStatus = hazard ? 2 : (leftBlinkerOn || rightBlinkerOn) ? 1 : 0;
+  int blinkerStatus = hazard ? 2 : (leftBlinkerOn or rightBlinkerOn) ? 1 : 0;

  if (!leftBlinkerOn && !rightBlinkerOn) {
    blinkerFrameCounter = 0;
@@ -83,7 +83,6 @@ private:
  bool speedLimitValid;
  bool speedLimitLastValid;
  float speedLimitFinalLast;
-  cereal::LongitudinalPlanSP::SpeedLimit::Source speedLimitSource;
  bool speedLimitAheadValid;
  float speedLimitAhead;
  float speedLimitAheadDistance;
@@ -97,14 +96,16 @@ private:
  int speedLimitAssistFrame;
  QPixmap plus_arrow_up_img;
  QPixmap minus_arrow_down_img;
-  int e2e_alert_size = 250;
-  QPixmap green_light_alert_img;
+  int e2e_alert_small = 250;
+  int e2e_alert_large = 300;
+  QPixmap green_light_alert_small_img;
+  QPixmap green_light_alert_large_img;
  bool greenLightAlert;
  int e2eAlertFrame;
  int e2eAlertDisplayTimer = 0;
-  bool allow_e2e_alerts;
  bool leadDepartAlert;
-  QPixmap lead_depart_alert_img;
+  QPixmap lead_depart_alert_small_img;
+  QPixmap lead_depart_alert_large_img;
  QString alert_text;
  QPixmap alert_img;
  bool hideVEgoUI;
@@ -119,5 +120,4 @@ private:
  bool carControlEnabled;
  float speedCluster = 0;
  int icbm_active_counter = 0;
-  bool pcmCruiseSpeed = true;
 };
@@ -21,73 +21,74 @@ void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, con
  mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
 }

-void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
+void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
  auto *s = uiState();
  auto &sm = *(s->sm);
+  bool blindspot = s->scene.blindspot_ui;

-  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
-      sm.rcv_frame("modelV2") < s->scene.started_frame) {
-    return;
+  if (blindspot) {
+    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
+    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
+
+    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
+
+    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(left_blindspot_vertices);
+    }
+
+    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(right_blindspot_vertices);
+    }
  }

-  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
-  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
-  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
+  bool rainbow = s->scene.rainbow_mode;
+  //float v_ego = sm["carState"].getCarState().getVEgo();

-  painter.save();
+  if (rainbow) {
+    // Simple time-based animation
+    float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
+        std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;

-  const auto &model = sm["modelV2"].getModelV2();
-  const auto &radar_state = sm["radarState"].getRadarState();
-  const auto &lead_one = radar_state.getLeadOne();
-  const auto &car_state = sm["carState"].getCarState();
+    // simple linear gradient from bottom to top
+    QLinearGradient bg(0, surface_rect.height(), 0, 0);

-  update_model(model, lead_one);
-  drawLaneLines(painter);
+    // evenly spaced colors across the spectrum
+    // The animation shifts the entire spectrum smoothly
+    float animation_speed = 40.0f; // speed vroom vroom
+    float hue_offset = fmod(time_offset * animation_speed, 360.0f);

-  if (s->scene.rainbow_mode) {
-    drawRainbowPath(painter, surface_rect);
+    // 6-8 color stops for smooth transitions more color makes it laggy
+    const int num_stops = 7;
+    for (int i = 0; i < num_stops; i++) {
+      float position = static_cast<float>(i) / (num_stops - 1);
+
+      float hue = fmod(hue_offset + position * 360.0f, 360.0f);
+      float saturation = 0.9f;
+      float lightness = 0.6f;
+
+      // Alpha fades out towards the far end of the path
+      float alpha = 0.8f * (1.0f - position * 0.3f);
+
+      QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
+      bg.setColorAt(position, color);
+    }
+
+    painter.setBrush(bg);
+    painter.drawPolygon(track_vertices);
  } else {
+    // Normal path rendering
    ModelRenderer::drawPath(painter, model, surface_rect.height());
  }

-  if (longitudinal_control && sm.alive("radarState")) {
-    update_leads(radar_state, model.getPosition());
-    const auto &lead_two = radar_state.getLeadTwo();
-    if (lead_one.getStatus()) {
-      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
-    }
-    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
-      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
-    }
-  }
-
-  if (s->scene.blindspot_ui) {
-    const bool left_blindspot = car_state.getLeftBlindspot();
-    const bool right_blindspot = car_state.getRightBlindspot();
-    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
-  }
  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());
-
-  painter.restore();
-}
-
-void ModelRendererSP::drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot) {
-  if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
-    QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
-    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-    painter.setBrush(gradient);
-    painter.drawPolygon(left_blindspot_vertices);
-  }
-
-  if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
-    QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
-    gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
-    gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
-    painter.setBrush(gradient);
-    painter.drawPolygon(right_blindspot_vertices);
-  }
 }

 void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
@@ -120,16 +121,19 @@ void ModelRendererSP::drawLeadStatus(QPainter &painter, int height, int width) {
  }

  if (has_lead_one) {
-    drawLeadStatusPosition(painter, lead_one, lead_vertices[0], height, width);
+    drawLeadStatusAtPosition(painter, lead_one, lead_vertices[0], height, width, "L1");
  }

  if (has_lead_two && std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0) {
-    drawLeadStatusPosition(painter, lead_two, lead_vertices[1], height, width);
+    drawLeadStatusAtPosition(painter, lead_two, lead_vertices[1], height, width, "L2");
  }
 }

-void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
-                                             const QPointF &chevron_pos, int height, int width) {
+void ModelRendererSP::drawLeadStatusAtPosition(QPainter &painter,
+                                               const cereal::RadarState::LeadData::Reader &lead_data,
+                                               const QPointF &chevron_pos,
+                                               int height, int width,
+                                               const QString &label) {
  float d_rel = lead_data.getDRel();
  float v_rel = lead_data.getVRel();
  auto *s = uiState();
@@ -219,36 +223,3 @@ void ModelRendererSP::drawLeadStatusPosition(QPainter &painter, const cereal::Ra

  painter.setPen(Qt::NoPen);
 }
-
-void ModelRendererSP::drawRainbowPath(QPainter &painter, const QRect &surface_rect) {
-  // Simple time-based animation
-  float time_offset = std::chrono::duration_cast<std::chrono::milliseconds>(
-      std::chrono::steady_clock::now().time_since_epoch()).count() / 1000.0f;
-
-  // simple linear gradient from bottom to top
-  QLinearGradient bg(0, surface_rect.height(), 0, 0);
-
-  // evenly spaced colors across the spectrum
-  // The animation shifts the entire spectrum smoothly
-  float animation_speed = 40.0f; // speed vroom vroom
-  float hue_offset = fmod(time_offset * animation_speed, 360.0f);
-
-  // 6-8 color stops for smooth transitions more color makes it laggy
-  const int num_stops = 7;
-  for (int i = 0; i < num_stops; i++) {
-    float position = static_cast<float>(i) / (num_stops - 1);
-
-    float hue = fmod(hue_offset + position * 360.0f, 360.0f);
-    float saturation = 0.9f;
-    float lightness = 0.6f;
-
-    // Alpha fades out towards the far end of the path
-    float alpha = 0.8f * (1.0f - position * 0.3f);
-
-    QColor color = QColor::fromHslF(hue / 360.0f, saturation, lightness, alpha);
-    bg.setColorAt(position, color);
-  }
-
-  painter.setBrush(bg);
-  painter.drawPolygon(track_vertices);
-}
@@ -13,15 +13,17 @@ class ModelRendererSP : public ModelRenderer {
 public:
  ModelRendererSP() = default;

-  void draw(QPainter &painter, const QRect &surface_rect);
-
 private:
  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
+
+  // Lead status display methods
  void drawLeadStatus(QPainter &painter, int height, int width);
-  void drawLeadStatusPosition(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
-                              const QPointF &chevron_pos, int height, int width);
-  void drawBlindspot(QPainter &painter, const QRect &surface_rect, bool left_blindspot, bool right_blindspot);
-  void drawRainbowPath(QPainter &painter, const QRect &surface_rect);
+  void drawLeadStatusAtPosition(QPainter &painter,
+                                const cereal::RadarState::LeadData::Reader &lead_data,
+                                const QPointF &chevron_pos,
+                                int height, int width,
+                                const QString &label);

  QPolygonF left_blindspot_vertices;
  QPolygonF right_blindspot_vertices;
@@ -122,7 +122,3 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
    return std::nullopt;
  }
 }
-
-bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
-  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
-}
@@ -23,4 +23,3 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
-bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);
@@ -390,7 +390,7 @@ class ButtonParamControlSP : public MultiButtonControlSP {
  Q_OBJECT
 public:
  ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                     const std::vector<QString> &button_texts, const int minimum_button_width = 380, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false, bool advancedControl = false) : MultiButtonControlSP(title, desc, icon,
                                                                                                                          button_texts, minimum_button_width, inline_layout, advancedControl) {
    key = param.toStdString();
    int value = atoi(params.get(key).c_str());
@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
+    "carStateSP", "liveParameters", "liveMapDataSP"
  });

  // update timer
@@ -18,7 +18,7 @@ if __name__ == "__main__":
  while True:
    print("setting alert update")
    params.put_bool("UpdateAvailable", True)
-    r = open(os.path.join(BASEDIR, "CHANGELOG.md")).read()
+    r = open(os.path.join(BASEDIR, "RELEASES.md")).read()
    r = r[:r.find('\n\n')]  # Slice latest release notes
    params.put("UpdaterNewReleaseNotes", r + "\n")

@@ -188,7 +188,7 @@ def setup_offroad_alert(click, pm: PubMaster, scroll=None):

 def setup_update_available(click, pm: PubMaster, scroll=None):
  Params().put_bool("UpdateAvailable", True)
-  release_notes_path = os.path.join(BASEDIR, "CHANGELOG.md")
+  release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
  with open(release_notes_path) as file:
    release_notes = file.read().split('\n\n', 1)[0]
  Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
@@ -1778,6 +1778,62 @@ Warning: You are on a metered connection!</source>
        <source>sunnypilot</source>
        <translation>sunnypilot</translation>
    </message>
+    <message>
+        <source>None</source>
+        <translation>없음</translation>
+    </message>
+    <message>
+        <source>Fixed</source>
+        <translation>고정</translation>
+    </message>
+    <message>
+        <source>Percent</source>
+        <translation>비율</translation>
+    </message>
+    <message>
+        <source>Car
+Only</source>
+        <translation>차량만</translation>
+    </message>
+    <message>
+        <source>Map
+Only</source>
+        <translation>지도만</translation>
+    </message>
+    <message>
+        <source>Car
+First</source>
+        <translation>차량
+우선</translation>
+    </message>
+    <message>
+        <source>Map
+First</source>
+        <translation>지도
+우선</translation>
+    </message>
+    <message>
+        <source>Combined
+Data</source>
+        <translation>결합
+데이터</translation>
+    </message>
+    <message>
+        <source>Off</source>
+        <translation>끄기</translation>
+    </message>
+    <message>
+        <source>Information</source>
+        <translation>정보</translation>
+    </message>
+    <message>
+        <source>Warning</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <source>Assist</source>
+        <translation>보조</translation>
+    </message>
 </context>
 <context>
    <name>SettingsWindow</name>
@@ -2142,34 +2198,6 @@ Warning: You are on a metered connection!</source>
        <source>⦿ Combined: Use combined Speed Limit data from Car &amp; OpenStreetMaps</source>
        <translation>⦿ 결합: 차량 및 OpenStreetMaps의 속도 제한 결합 데이터 사용</translation>
    </message>
-    <message>
-        <source>Car
-Only</source>
-        <translation>차량만</translation>
-    </message>
-    <message>
-        <source>Map
-Only</source>
-        <translation>지도만</translation>
-    </message>
-    <message>
-        <source>Car
-First</source>
-        <translation>차량
-우선</translation>
-    </message>
-    <message>
-        <source>Map
-First</source>
-        <translation>지도
-우선</translation>
-    </message>
-    <message>
-        <source>Combined
-Data</source>
-        <translation>결합
-데이터</translation>
-    </message>
 </context>
 <context>
    <name>SpeedLimitSettings</name>
@@ -2217,34 +2245,6 @@ Data</source>
        <source>⦿ Assist: Adjusts the vehicle&apos;s cruise speed based on the current road&apos;s speed limit when operating the +/- buttons.</source>
        <translation>⦿ 보조: +/- 버튼을 조작할 때 현재 도로의 제한 속도를 기준으로 차량의 크루즈 속도를 조정합니다.</translation>
    </message>
-    <message>
-        <source>None</source>
-        <translation>없음</translation>
-    </message>
-    <message>
-        <source>Fixed</source>
-        <translation>고정</translation>
-    </message>
-    <message>
-        <source>Percent</source>
-        <translation>비율</translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation>끄기</translation>
-    </message>
-    <message>
-        <source>Information</source>
-        <translation>정보</translation>
-    </message>
-    <message>
-        <source>Warning</source>
-        <translation>경고</translation>
-    </message>
-    <message>
-        <source>Assist</source>
-        <translation>보조</translation>
-    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -60,6 +60,7 @@ typedef struct UIScene {
  cereal::PandaState::PandaType pandaType;

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

  float light_sensor = -1;
  bool started, ignition, is_metric, recording_audio;
@@ -5,7 +5,6 @@ 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 enum import IntEnum
 import hashlib

 PARAMS_UPDATE_PERIOD = 3  # seconds
@@ -17,23 +16,3 @@ def get_file_hash(path: str) -> str:
    for byte_block in iter(lambda: f.read(4096), b""):
      sha256_hash.update(byte_block)
  return sha256_hash.hexdigest()
-
-
-class IntEnumBase(IntEnum):
-  @classmethod
-  def min(cls):
-    return min(cls)
-
-  @classmethod
-  def max(cls):
-    return max(cls)
-
-
-def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
-  val: int = params.get(key, return_default=True)
-  clipped_val = max(min_val, min(max_val, val))
-
-  if clipped_val != val:
-    params.put(key, clipped_val)
-
-  return clipped_val
@@ -1 +0,0 @@
-#define SUNNYPILOT_VERSION "2025.001.000"
@@ -8,12 +8,8 @@ from abc import abstractmethod, ABC

 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.common.constants import CV
-from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.navd.helpers import coordinate_from_param

-MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS
-

 class BaseMapData(ABC):
  def __init__(self):
@@ -50,9 +46,9 @@ class BaseMapData(ABC):
    mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
    live_map_data = mapd_sp_send.liveMapDataSP

-    live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
+    live_map_data.speedLimitValid = bool(speed_limit > 0)
    live_map_data.speedLimit = speed_limit
-    live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
+    live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
    live_map_data.speedLimitAhead = next_speed_limit
    live_map_data.speedLimitAheadDistance = next_speed_limit_distance
    live_map_data.roadName = self.get_current_road_name()
@@ -37,7 +37,7 @@ class CarSpecificEventsSP:
        # TODO-SP: add 1 m/s hysteresis
        if CS.vEgo >= self.CP.minEnableSpeed:
          self.low_speed_alert = False
-        if self.CP.minEnableSpeed >= 14.5 and CS.gearShifter != GearShifter.drive:
+        if CS.gearShifter != GearShifter.drive:
          self.low_speed_alert = True
      if self.low_speed_alert:
        events.add(EventName.belowSteerSpeed)
@@ -11,7 +11,6 @@ from opendbc.car.interfaces import CarInterfaceBase
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_speed_limit_assist_availability

 import openpilot.system.sentry as sentry

@@ -67,29 +66,6 @@ def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarPara
    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)


-def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
-  if params is None:
-    params = Params()
-
-  if CP.steerControlType == structs.CarParams.SteerControlType.angle:
-    cloudlog.warning("SteerControlType is angle, cleaning up params")
-    params.remove("NeuralNetworkLateralControl")
-    params.remove("EnforceTorqueControl")
-
-  if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
-    cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
-    params.remove("IntelligentCruiseButtonManagement")
-
-  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
-    cloudlog.warning("openpilot Longitudinal Control and ICBM not available, cleaning up params")
-    params.remove("DynamicExperimentalControl")
-    params.remove("CustomAccIncrementsEnabled")
-    params.remove("SmartCruiseControlVision")
-    params.remove("SmartCruiseControlMap")
-
-  set_speed_limit_assist_availability(CP, CP_SP, params)
-
-
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  CP = CI.CP
  CP_SP = CI.CP_SP
@@ -98,7 +74,6 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
-  _cleanup_unsupported_params(CP, CP_SP)


 def initialize_params(params) -> list[dict[str, Any]]:
@@ -109,10 +84,4 @@ def initialize_params(params) -> list[dict[str, Any]]:
    "HyundaiLongitudinalTuning"
  ])

-  # subaru
-  keys.extend([
-    "SubaruStopAndGo",
-    "SubaruStopAndGoManualParkingBrake",
-  ])
-
  return [{k: params.get(k, return_default=True)} for k in keys]
@@ -12,159 +12,47 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

-GREEN_LIGHT_X_THRESHOLD = 30
-LEAD_DEPART_DIST_THRESHOLD = 1.0
-TRIGGER_TIMER_THRESHOLD = 0.3
-
-
-class E2EStates:
-  INACTIVE = 0
-  ARMED = 1
-  CONSUMED = 2
+TRIGGER_THRESHOLD = 30


 class E2EAlertsHelper:
  def __init__(self):
    self._params = Params()
-    self.frame = -1
-    self.green_light_state = E2EStates.INACTIVE
-    self.prev_green_light_state = E2EStates.INACTIVE
-    self.lead_depart_state = E2EStates.INACTIVE
-    self.prev_lead_depart_state = E2EStates.INACTIVE
+    self._frame = -1

    self.green_light_alert = False
    self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
    self.lead_depart_alert = False
    self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")

-    self.green_light_trigger_timer = 0
-    self.lead_depart_trigger_timer = 0
-    self.last_lead_distance = -1
-    self.last_moving_frame = -1
-
-    self.allowed = False
-    self.last_allowed = False
-    self.has_lead = False
-
-    self.lead_depart_arm_timer = 0
-    self.lead_depart_confirmed_lead = False
-    self.lead_depart_armed = False
-
  def _read_params(self) -> None:
-    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+    if self._frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
      self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
      self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")

-  def update_alert_trigger(self, sm: messaging.SubMaster):
+    self._frame += 1
+
+  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
+    self._read_params()
+
+    if not (self.green_light_alert_enabled or self.lead_depart_alert_enabled):
+      return
+
    CS = sm['carState']
    CC = sm['carControl']

    model_x = sm['modelV2'].position.x
    max_idx = len(model_x) - 1
-    self.has_lead = sm['radarState'].leadOne.status
-    lead_dRel = sm['radarState'].leadOne.dRel
+    has_lead = sm['radarState'].leadOne.status
+    lead_vRel: float = sm['radarState'].leadOne.vRel

-    standstill = CS.standstill
-    moving = not standstill and CS.vEgo > 0.1
-
-    if moving:
-      self.last_moving_frame = self.frame
-    recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
-
-    self.allowed = not moving and not CS.gasPressed and not CC.enabled and not recent_moving
-
-    # Green Light Alert
-    green_light_trigger = False
-    if self.green_light_state == E2EStates.ARMED:
-      if model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
-        self.green_light_trigger_timer += 1
-      else:
-        self.green_light_trigger_timer = 0
-
-      if self.green_light_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
-        green_light_trigger = True
-    elif self.green_light_state != E2EStates.ARMED:
-      self.green_light_trigger_timer = 0
+    # Green light alert
+    self.green_light_alert = (self.green_light_alert_enabled and model_x[max_idx] > TRIGGER_THRESHOLD
+                              and not has_lead and CS.standstill and not CS.gasPressed and not CC.enabled)

    # Lead Departure Alert
-    close_lead_valid = self.has_lead and lead_dRel < 8.0
-    if self.allowed and not self.last_allowed and close_lead_valid:
-      self.lead_depart_confirmed_lead = True
-    elif not self.allowed:
-      self.lead_depart_confirmed_lead = False
-
-    if self.allowed and self.lead_depart_confirmed_lead and close_lead_valid:
-      self.lead_depart_arm_timer += 1
-
-      if self.lead_depart_arm_timer * DT_MDL >= 1.0:
-        self.lead_depart_armed = True
-    else:
-      self.lead_depart_arm_timer = 0
-      self.lead_depart_armed = False
-
-    lead_depart_trigger = False
-    if self.lead_depart_state == E2EStates.ARMED:
-      if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
-        self.last_lead_distance = lead_dRel
-
-      if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > LEAD_DEPART_DIST_THRESHOLD):
-        self.lead_depart_trigger_timer += 1
-      else:
-        self.lead_depart_trigger_timer = 0
-
-      if self.lead_depart_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
-        lead_depart_trigger = True
-    elif self.lead_depart_state != E2EStates.ARMED:
-      self.last_lead_distance = -1
-      self.lead_depart_trigger_timer = 0
-
-    self.last_allowed = self.allowed
-
-    return green_light_trigger, lead_depart_trigger
-
-  @staticmethod
-  def update_state_machine(state: int, enabled: bool, allowed: bool, triggered: bool) -> tuple[int, bool]:
-    if state != E2EStates.INACTIVE:
-      if not allowed or not enabled:
-        state = E2EStates.INACTIVE
-
-      else:
-        if state == E2EStates.ARMED:
-          if triggered:
-            state = E2EStates.CONSUMED
-
-        elif state == E2EStates.CONSUMED:
-          pass
-
-    elif state == E2EStates.INACTIVE:
-      if allowed and enabled:
-        state = E2EStates.ARMED
-
-    return state, triggered
-
-  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
-    self._read_params()
-
-    green_light_trigger, lead_depart_trigger = self.update_alert_trigger(sm)
-
-    self.prev_green_light_state = self.green_light_state
-    self.prev_lead_depart_state = self.lead_depart_state
-
-    self.green_light_state, self.green_light_alert = self.update_state_machine(
-      self.green_light_state,
-      self.green_light_alert_enabled,
-      self.allowed and not self.has_lead,
-      green_light_trigger
-    )
-
-    self.lead_depart_state, self.lead_depart_alert = self.update_state_machine(
-      self.lead_depart_state,
-      self.lead_depart_alert_enabled,
-      self.allowed and self.lead_depart_armed,
-      lead_depart_trigger
-    )
+    self.lead_depart_alert = (self.lead_depart_alert_enabled and CS.standstill and model_x[max_idx] > 30
+                              and has_lead and lead_vRel > 1 and not CS.gasPressed)

    if self.green_light_alert or self.lead_depart_alert:
      events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
-
-    self.frame += 1
@@ -9,15 +9,13 @@ from cereal import custom
 from openpilot.common.constants import CV
 from openpilot.common.params import Params

-TurnDirection = custom.ModelDataV2SP.TurnDirection
-
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS


 class LaneTurnController:
  def __init__(self, desire_helper):
    self.DH = desire_helper
-    self.turn_direction = TurnDirection.none
+    self.turn_direction = custom.TurnDirection.none
    self.params = Params()
    self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
    self.param_read_counter = 0
@@ -35,13 +33,13 @@ class LaneTurnController:

  def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
    if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
-      self.turn_direction = TurnDirection.turnLeft
+      self.turn_direction = custom.TurnDirection.turnLeft
    elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
-      self.turn_direction = TurnDirection.turnRight
+      self.turn_direction = custom.TurnDirection.turnRight
    else:
-      self.turn_direction = TurnDirection.none
+      self.turn_direction = custom.TurnDirection.none

  def get_turn_direction(self):
    if not self.enabled:
-      return TurnDirection.none
+      return custom.TurnDirection.none
    return self.turn_direction
@@ -17,18 +17,20 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolve
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle

+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource


 class LongitudinalPlannerSP:
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
+  def __init__(self, CP: structs.CarParams, mpc):
    self.events_sp = EventsSP()
    self.resolver = SpeedLimitResolver()
    self.dec = DynamicExperimentalController(CP, mpc)
    self.scc = SmartCruiseControl()
    self.resolver = SpeedLimitResolver()
-    self.sla = SpeedLimitAssist(CP, CP_SP)
+    self.sla = SpeedLimitAssist(CP)
+    self.vibe_controller = VibePersonalityController()
    self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
    self.source = LongitudinalPlanSource.cruise
    self.e2e_alerts_helper = E2EAlertsHelper()
@@ -81,6 +83,7 @@ class LongitudinalPlannerSP:
    self.events_sp.clear()
    self.dec.update(sm)
    self.e2e_alerts_helper.update(sm, self.events_sp)
+    self.vibe_controller.update()

  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
    plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -4,11 +4,10 @@ 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 openpilot.sunnypilot import IntEnumBase
+from enum import IntEnum


-class Policy(IntEnumBase):
+class Policy(IntEnum):
  car_state_only = 0
  map_data_only = 1
  car_state_priority = 2
@@ -16,13 +15,13 @@ class Policy(IntEnumBase):
  combined = 4


-class OffsetType(IntEnumBase):
+class OffsetType(IntEnum):
  off = 0
  fixed = 1
  percentage = 2


-class Mode(IntEnumBase):
+class Mode(IntEnum):
  off = 0
  information = 1
  warning = 2
@@ -5,10 +5,7 @@ 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, car
 from openpilot.common.constants import CV
-from openpilot.common.params import Params
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode


 def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
@@ -20,25 +17,3 @@ def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_
  req_minus = v_cruise_cluster_conv > target_set_speed_conv

  return req_plus, req_minus
-
-
-def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> bool:
-  if params is None:
-    params = Params()
-
-  is_release = params.get_bool("IsReleaseSpBranch")
-  disallow_in_release = CP.brand == "tesla" and is_release
-  always_disallow = CP.brand == "rivian"
-  allowed = True
-
-  if disallow_in_release or always_disallow:
-    allowed = False
-
-  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
-    allowed = False
-
-  if not allowed:
-    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
-      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
-
-  return allowed
@@ -10,13 +10,13 @@ from cereal import custom, car
 from openpilot.common.params import Params
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
+from openpilot.selfdrive.modeld.constants import ModelConstants

 ButtonType = car.CarState.ButtonEvent.Type
 EventNameSP = custom.OnroadEventSP.EventName
@@ -27,18 +27,14 @@ ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
 ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)

 DISABLED_GUARD_PERIOD = 0.5  # secs.
-# secs. Time to wait after activation before considering temp deactivation signal.
-PRE_ACTIVE_GUARD_PERIOD = {
-  True: 15,
-  False: 5,
-}
+PRE_ACTIVE_GUARD_PERIOD = 15  # secs. Time to wait after activation before considering temp deactivation signal.
 SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1  # secs. Time to wait after speed limit change before switching to preActive.

 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.
-V_CRUISE_UNSET = 255.
+V_CRUISE_UNSET = 255

 CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
 CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
@@ -52,15 +48,13 @@ class SpeedLimitAssist:
  a_ego: float
  v_offset: float

-  def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP):
+  def __init__(self, CP):
    self.params = Params()
    self.CP = CP
-    self.CP_SP = CP_SP
    self.frame = -1
    self.long_engaged_timer = 0
    self.pre_active_timer = 0
    self.is_metric = self.params.get_bool("IsMetric")
-    set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
    self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
    self.long_enabled = False
    self.long_enabled_prev = False
@@ -115,16 +109,6 @@ class SpeedLimitAssist:
  def target_set_speed_confirmed(self) -> bool:
    return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)

-  @property
-  def v_cruise_cluster_below_confirm_speed_threshold(self) -> bool:
-    return bool(self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
-
-  def update_active_event(self, events_sp: EventsSP) -> None:
-    if self.v_cruise_cluster_below_confirm_speed_threshold:
-      events_sp.add(EventNameSP.speedLimitChanged)
-    else:
-      events_sp.add(EventNameSP.speedLimitActive)
-
  def get_v_target_from_control(self) -> float:
    if self._has_speed_limit:
      if self.pcm_op_long and self.is_enabled:
@@ -142,7 +126,6 @@ class SpeedLimitAssist:
  def update_params(self) -> None:
    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
      self.is_metric = self.params.get_bool("IsMetric")
-      set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
      self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist

  def update_car_state(self, CS: car.CarState) -> None:
@@ -192,7 +175,7 @@ class SpeedLimitAssist:
  @property
  def apply_confirm_speed_threshold(self) -> bool:
    # below CST: always require user confirmation
-    if self.v_cruise_cluster_below_confirm_speed_threshold:
+    if self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric]:
      return True

    # at/above CST:
@@ -248,7 +231,7 @@ class SpeedLimitAssist:
            self.state = SpeedLimitAssistState.inactive
          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
          elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
            self.state = SpeedLimitAssistState.adapting

@@ -258,7 +241,7 @@ class SpeedLimitAssist:
            self.state = SpeedLimitAssistState.inactive
          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
          elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
            self.state = SpeedLimitAssistState.active

@@ -268,7 +251,7 @@ class SpeedLimitAssist:
            self._update_confirmed_state()
          elif self.speed_limit_changed:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)

        # PRE_ACTIVE
        elif self.state == SpeedLimitAssistState.preActive:
@@ -294,7 +277,7 @@ class SpeedLimitAssist:
            self._update_confirmed_state()
          elif self._has_speed_limit:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
          else:
            self.state = SpeedLimitAssistState.pending

@@ -320,7 +303,7 @@ class SpeedLimitAssist:

          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)

        # PRE_ACTIVE
        elif self.state == SpeedLimitAssistState.preActive:
@@ -334,7 +317,7 @@ class SpeedLimitAssist:
        elif self.state == SpeedLimitAssistState.inactive:
          if self.speed_limit_changed:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
          elif self._update_non_pcm_long_confirmed_state():
            self.state = SpeedLimitAssistState.active

@@ -350,7 +333,7 @@ class SpeedLimitAssist:
            self.state = SpeedLimitAssistState.active
          elif self._has_speed_limit:
            self.state = SpeedLimitAssistState.preActive
-            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
          else:
            self.state = SpeedLimitAssistState.inactive

@@ -368,15 +351,15 @@ class SpeedLimitAssist:

    if self.is_active:
      if self._state_prev not in ACTIVE_STATES:
-        self.update_active_event(events_sp)
+        events_sp.add(EventNameSP.speedLimitActive)

      # only notify if we acquire a valid speed limit
      # do not check has_speed_limit here
      elif self._speed_limit != self.speed_limit_prev:
        if self.speed_limit_prev <= 0:
-          self.update_active_event(events_sp)
+          events_sp.add(EventNameSP.speedLimitActive)
        elif self.speed_limit_prev > 0 and self._speed_limit > 0:
-          self.update_active_event(events_sp)
+          events_sp.add(EventNameSP.speedLimitChanged)

  def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
             speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:
@@ -12,7 +12,7 @@ from openpilot.common.constants import CV
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType

@@ -42,12 +42,6 @@ class SpeedLimitResolver:
    self.distance_solutions = {}  # Store for distance to current speed limit start for different sources

    self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
-    self.policy = get_sanitize_int_param(
-      "SpeedLimitPolicy",
-      Policy.min().value,
-      Policy.max().value,
-      self.params
-    )
    self._policy_to_sources_map = {
      Policy.car_state_only: [SpeedLimitSource.car],
      Policy.map_data_only: [SpeedLimitSource.map],
@@ -60,12 +54,7 @@ class SpeedLimitResolver:
      self._reset_limit_sources(source)

    self.is_metric = self.params.get_bool("IsMetric")
-    self.offset_type = get_sanitize_int_param(
-      "SpeedLimitOffsetType",
-      OffsetType.min().value,
-      OffsetType.max().value,
-      self.params
-    )
+    self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
    self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)

    self.speed_limit = 0.
@@ -142,7 +131,6 @@ class SpeedLimitResolver:
    self.limit_solutions[SpeedLimitSource.map] = speed_limit
    self.distance_solutions[SpeedLimitSource.map] = 0.

-    # FIXME-SP: this is not working as expected
    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
@@ -4,22 +4,17 @@ 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.
 """
-
-import pytest
-
 from cereal import custom
+
 from opendbc.car.car_helpers import interfaces
-from opendbc.car.rivian.values import CAR as RIVIAN
-from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
-from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
@@ -35,30 +30,16 @@ SPEED_LIMITS = {
  'freeway': 80 * CV.MPH_TO_MS,      # 80 mph
 }

-DEFAULT_CAR = TOYOTA.TOYOTA_RAV4_TSS2
-
-
-@pytest.fixture
-def car_name(request):
-  return getattr(request, "param", DEFAULT_CAR)
-
-
-@pytest.fixture(autouse=True)
-def set_car_name_on_instance(request, car_name):
-  instance = getattr(request, "instance", None)
-  if instance:
-    instance.car_name = car_name
-

 class TestSpeedLimitAssist:

-  def setup_method(self, method):
+  def setup_method(self):
    self.params = Params()
    self.reset_custom_params()
    self.events_sp = EventsSP()
-    CI = self._setup_platform(self.car_name)
-    self.sla = SpeedLimitAssist(CI.CP, CI.CP_SP)
-    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
+    CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
+    self.sla = SpeedLimitAssist(CI.CP)
+    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
    self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
    self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH

@@ -70,12 +51,10 @@ class TestSpeedLimitAssist:
    CP = CarInterface.get_non_essential_params(car_name)
    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
    CI = CarInterface(CP, CP_SP)
-    CI.CP.openpilotLongitudinalControl = True  # always assume it's openpilot longitudinal
    sunnypilot_interfaces.setup_interfaces(CI, self.params)
    return CI

  def reset_custom_params(self):
-    self.params.put("IsReleaseSpBranch", True)
    self.params.put("SpeedLimitMode", int(Mode.assist))
    self.params.put_bool("IsMetric", False)
    self.params.put("SpeedLimitOffsetType", 0)
@@ -105,22 +84,6 @@ class TestSpeedLimitAssist:
    assert not self.sla.is_active
    assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()

-  @pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1_GEN1, TESLA.TESLA_MODEL_Y], indirect=True)
-  def test_disallowed_brands(self, car_name):
-    """
-      Speed Limit Assist is disabled for the following brands and conditions:
-      - All Tesla and is a release branch;
-      - All Rivian
-    """
-    assert not self.sla.enabled
-
-    # stay disallowed even when the param may have changed from somewhere else
-    self.params.put("SpeedLimitMode", int(Mode.assist))
-    for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL)):
-      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'],
-                      SPEED_LIMITS['city'], True, 0, self.events_sp)
-    assert not self.sla.enabled
-
  def test_disabled(self):
    self.params.put("SpeedLimitMode", int(Mode.off))
    for _ in range(int(10. / DT_MDL)):
@@ -151,7 +114,7 @@ class TestSpeedLimitAssist:
    self.sla.state = SpeedLimitAssistState.preActive
    self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)

-    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)):
+    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
    assert self.sla.state == SpeedLimitAssistState.inactive

@@ -1,113 +1,113 @@
 import pytest
-from cereal import log, custom
+from cereal import log
 from openpilot.common.params import Params

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

-TurnDirection = custom.ModelDataV2SP.TurnDirection
+
+class TurnDirection:
+    none = 0
+    turnLeft = 1
+    turnRight = 2


@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
-  (True, False, 5, False, False, TurnDirection.turnLeft),
-  (False, True, 6, False, False, TurnDirection.turnRight),
-  (True, False, 9, False, False, TurnDirection.none),
-  (True, False, 7, True, False, TurnDirection.none),
-  (False, True, 6, False, True, TurnDirection.none),
-  (False, False, 5, False, False, TurnDirection.none),
-  (True, True, 5, False, False, TurnDirection.none),
+    (True, False, 5, False, False, TurnDirection.turnLeft),
+    (False, True, 6, False, False, TurnDirection.turnRight),
+    (True, False, 9, False, False, TurnDirection.none),
+    (True, False, 7, True, False, TurnDirection.none),
+    (False, True, 6, False, True, TurnDirection.none),
+    (False, False, 5, False, False, TurnDirection.none),
+    (True, True, 5, False, False, TurnDirection.none),
 ])
 def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
-  assert controller.get_turn_direction() == expected
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+    assert controller.get_turn_direction() == expected


 def test_lane_turn_desire_disabled():
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = False
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(False, False, True, False, 7)
-  assert controller.get_turn_direction() == TurnDirection.none
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = False
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, False, True, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none


 def test_lane_turn_overrides_lane_change():
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  # left turn desire
-  controller.update_lane_turn(False, False, True, False, 5)
-  assert controller.get_turn_direction() == TurnDirection.turnLeft
-  # right turn desire
-  controller.update_lane_turn(False, False, False, True, 6)
-  assert controller.get_turn_direction() == TurnDirection.turnRight
-  # no turn
-  controller.update_lane_turn(False, False, False, False, 7)
-  assert controller.get_turn_direction() == TurnDirection.none
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    # left turn desire
+    controller.update_lane_turn(False, False, True, False, 5)
+    assert controller.get_turn_direction() == TurnDirection.turnLeft
+    # right turn desire
+    controller.update_lane_turn(False, False, False, True, 6)
+    assert controller.get_turn_direction() == TurnDirection.turnRight
+    # no turn
+    controller.update_lane_turn(False, False, False, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none


@pytest.mark.parametrize("v_ego,expected", [
-  (8.93, TurnDirection.turnLeft),  # just below threshold
-  (8.96, TurnDirection.none),  # above threshold
-  (8.95, TurnDirection.none),  # just above threshold
+    (8.93, TurnDirection.turnLeft),   # just below threshold
+    (8.96, TurnDirection.none),       # above threshold
+    (8.95, TurnDirection.none),       # just above threshold
 ])
 def test_lane_turn_desire_speed_boundary(v_ego, expected):
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(False, True, True, False, v_ego)
-  assert controller.get_turn_direction() == expected
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, True, True, False, v_ego)
+    assert controller.get_turn_direction() == expected


 class DummyCarState:
-  def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-               steeringPressed=False, steeringTorque=0, brakePressed=False):
-    self.vEgo = vEgo
-    self.leftBlinker = leftBlinker
-    self.rightBlinker = rightBlinker
-    self.leftBlindspot = leftBlindspot
-    self.rightBlindspot = rightBlindspot
-    self.steeringPressed = steeringPressed
-    self.steeringTorque = steeringTorque
-    self.brakePressed = brakePressed
-
+    def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=False, steeringTorque=0, brakePressed=False):
+        self.vEgo = vEgo
+        self.leftBlinker = leftBlinker
+        self.rightBlinker = rightBlinker
+        self.leftBlindspot = leftBlindspot
+        self.rightBlindspot = rightBlindspot
+        self.steeringPressed = steeringPressed
+        self.steeringTorque = steeringTorque
+        self.brakePressed = brakePressed

@pytest.fixture
 def set_lane_turn_params():
-  params = Params()
-  params.put("LaneTurnDesire", True)
-  params.put("LaneTurnValue", 20.0)
-
+    params = Params()
+    params.put("LaneTurnDesire", True)
+    params.put("LaneTurnValue", 20.0)

@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
-  # Lane turn desire overrides lane change desire
-  (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
-   log.Desire.turnLeft),
-  (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
-   log.Desire.turnRight),
-  # Lane change desire only (no turn desires)
-  (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
-  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
-  # No desire (inactive)
-  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
-  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+    # Lane turn desire overrides lane change desire
+    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnLeft),
+    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0, log.Desire.turnRight),
+    # Lane change desire only (no turn desires)
+    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+    # No desire (inactive)
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
-  dh = DesireHelper()
-  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-  for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob)
-  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    for _ in range(10):
+        dh.update(carstate, lateral_active, lane_change_prob)
+    assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
@@ -0,0 +1,74 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import log, custom
+import numpy as np
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+LongPersonality = log.LongitudinalPersonality
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+MAX_ACCEL_PROFILES = {
+  AccelPersonality.eco:       [2.0,  1.99,  1.88, 1.10, .500, .292, .15, .10],
+  AccelPersonality.normal:    [2.0,  2.00,  1.94, 1.22, .635, .33, .20, .16],
+  AccelPersonality.sport:     [2.0,  2.00,  2.00, 1.85, .800, .54, .32, .22],
+}
+MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.]
+
+MIN_ACCEL_PROFILES = {
+  LongPersonality.relaxed:    [-.0007, -.0007, -.07, -1.00, -1.00],
+  LongPersonality.standard:   [-.0007, -.0007, -.08, -1.10, -1.10],
+  LongPersonality.aggressive: [-.0006, -.0007, -.09, -1.20, -1.20],
+}
+MIN_ACCEL_BREAKPOINTS = [0., 3.0, 11., 22., 50.]
+
+
+class AccelPersonalityController:
+  def __init__(self):
+    self.params = Params()
+    self.frame = 0
+    self.accel_personality = AccelPersonality.normal
+    self.long_personality = LongPersonality.standard
+
+  def _update_from_params(self):
+    if self.frame % int(1. / DT_MDL) != 0:
+      return
+    accel_bytes = self.params.get('AccelPersonality')
+    if accel_bytes:
+      self.accel_personality = int(accel_bytes)
+    long_bytes = self.params.get('LongitudinalPersonality')
+    if long_bytes:
+      self.long_personality = int(long_bytes)
+
+  def is_enabled(self) -> bool:
+    return self.params.get_bool('VibeAccelPersonalityEnabled') or False
+
+  def set_accel_personality(self, personality: int) -> bool:
+    if personality not in [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]:
+      return False
+    self.accel_personality = personality
+    self.params.put('AccelPersonality', str(personality))
+    return True
+
+  def cycle_accel_personality(self) -> int:
+    personalities = [AccelPersonality.eco, AccelPersonality.normal, AccelPersonality.sport]
+    idx = personalities.index(self.accel_personality)
+    next_p = personalities[(idx + 1) % len(personalities)]
+    self.set_accel_personality(next_p)
+    return int(next_p)
+
+  def get_accel_limits(self, v_ego: float) -> tuple[float, float] | None:
+    if not self.is_enabled():
+      return None
+    self._update_from_params()
+    max_a = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality])
+    min_a = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.long_personality])
+    return float(min_a), float(max_a)
+
+  def update(self):
+    self.frame += 1
@@ -0,0 +1,46 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import log
+import numpy as np
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+LongPersonality = log.LongitudinalPersonality
+
+FOLLOW_PROFILES = {
+  LongPersonality.relaxed:    [1.55, 1.65, 1.65, 1.80, 1.80],
+  LongPersonality.standard:   [1.35, 1.45, 1.45, 1.55, 1.55],
+  LongPersonality.aggressive: [1.05, 1.10, 1.10, 1.25, 1.35],
+}
+FOLLOW_BREAKPOINTS = [0., 6., 18., 20., 36.]
+
+
+class FollowPersonalityController:
+  def __init__(self):
+    self.params = Params()
+    self.frame = 0
+    self.long_personality = LongPersonality.standard
+
+  def _update_from_params(self):
+    if self.frame % int(1. / DT_MDL) != 0:
+      return
+    long_bytes = self.params.get('LongitudinalPersonality')
+    if long_bytes:
+      self.long_personality = int(long_bytes)
+
+  def is_enabled(self) -> bool:
+    return self.params.get_bool('VibeFollowPersonalityEnabled') or False
+
+  def get_follow_distance_multiplier(self, v_ego: float) -> float | None:
+    if not self.is_enabled():
+      return None
+    self._update_from_params()
+    return float(np.interp(v_ego, FOLLOW_BREAKPOINTS, FOLLOW_PROFILES[self.long_personality]))
+
+  def update(self):
+    self.frame += 1
@@ -0,0 +1,314 @@
+import pytest
+
+# Import the actual modules
+from cereal import log, custom
+from openpilot.common.realtime import DT_MDL
+
+# Import the enums we need for testing
+LongPersonality = log.LongitudinalPersonality
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+
+class MockParams:
+  """Simple mock for Params class"""
+  def __init__(self):
+    self.data = {}
+    self.bool_data = {
+      'VibePersonalityEnabled': True,
+      'VibeAccelPersonalityEnabled': True,
+      'VibeFollowPersonalityEnabled': True
+    }
+
+  def get(self, key, encoding=None):
+    return self.data.get(key)
+
+  def get_bool(self, key):
+    return self.bool_data.get(key, True)
+
+  def put(self, key, value):
+    self.data[key] = value
+
+  def put_bool(self, key, value):
+    self.bool_data[key] = value
+
+  def reset_mock(self):
+    self.call_count = 0
+
+  @property
+  def call_count(self):
+    return getattr(self, '_call_count', 0)
+
+  @call_count.setter
+  def call_count(self, value):
+    self._call_count = value
+
+
+@pytest.fixture
+def mock_params():
+  """Create mock params instance"""
+  return MockParams()
+
+
+@pytest.fixture
+def controller(mock_params, monkeypatch):
+  """Create controller instance with mocked Params"""
+  # Patch the Params import in the controller module
+  monkeypatch.setattr('openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality.Params',
+                      lambda: mock_params)
+
+  from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.vibe_personality import VibePersonalityController
+  return VibePersonalityController()
+
+
+class TestVibePersonalityController:
+
+  def test_initialization(self, controller):
+    """Test controller initializes with correct defaults"""
+    assert controller.frame == 0
+    assert controller.accel_personality == AccelPersonality.normal
+    assert controller.long_personality == LongPersonality.standard
+    assert 'accel_personality' in controller.param_keys
+    assert 'long_personality' in controller.param_keys
+
+  def test_frame_increment(self, controller):
+    """Test frame counter increments correctly"""
+    initial_frame = controller.frame
+    controller.update()
+    assert controller.frame == initial_frame + 1
+
+    controller.update()
+    assert controller.frame == initial_frame + 2
+
+  def test_parameter_reading_throttled(self, controller, mock_params):
+    """Test parameters are only read every DT_MDL frames"""
+    # Track calls manually
+    original_get = mock_params.get
+    call_count = 0
+
+    def counting_get(*args, **kwargs):
+      nonlocal call_count
+      call_count += 1
+      return original_get(*args, **kwargs)
+
+    mock_params.get = counting_get
+
+    # First call should read params (frame 0)
+    controller._update_from_params()
+
+    # Reset counter
+    call_count = 0
+
+    # Advance frame but not to threshold
+    controller.frame = 5  # Less than int(1/DT_MDL)
+    controller._update_from_params()
+    assert call_count == 0  # Should not read params
+
+    # Advance to threshold
+    controller.frame = int(1. / DT_MDL)  # Equal to threshold
+    controller._update_from_params()
+    assert call_count >= 2  # Should read both personality params
+
+  def test_accel_personality_management(self, controller, mock_params):
+    """Test acceleration personality setting and cycling"""
+    # Test setting valid personality
+    assert controller.set_accel_personality(AccelPersonality.eco)
+    assert controller.accel_personality == AccelPersonality.eco
+
+    assert controller.set_accel_personality(AccelPersonality.sport)
+    assert controller.accel_personality == AccelPersonality.sport
+
+    # Test setting invalid personality
+    assert not controller.set_accel_personality(999)
+    assert controller.accel_personality == AccelPersonality.sport  # Should remain unchanged
+
+    # Test cycling
+    controller.accel_personality = AccelPersonality.eco
+    next_personality = controller.cycle_accel_personality()
+    assert next_personality == AccelPersonality.normal  # should cycle to normal
+    assert controller.accel_personality == AccelPersonality.normal
+
+    next_personality = controller.cycle_accel_personality()
+    assert next_personality == AccelPersonality.sport  # should cycle to sport
+
+    next_personality = controller.cycle_accel_personality()
+    assert next_personality == AccelPersonality.eco  # should cycle back to eco
+
+  def test_long_personality_management(self, controller, mock_params):
+    """Test longitudinal personality setting and cycling"""
+    # Test setting valid personality
+    assert controller.set_long_personality(LongPersonality.relaxed)
+    assert controller.long_personality == LongPersonality.relaxed
+
+    assert controller.set_long_personality(LongPersonality.aggressive)
+    assert controller.long_personality == LongPersonality.aggressive
+
+    # Test setting invalid personality
+    assert not controller.set_long_personality(999)
+    assert controller.long_personality == LongPersonality.aggressive  # Should remain unchanged
+
+    # Test cycling
+    controller.long_personality = LongPersonality.standard
+    next_personality = controller.cycle_long_personality()
+    assert next_personality == LongPersonality.aggressive  # should cycle to aggressive
+    assert controller.long_personality == LongPersonality.aggressive
+
+    next_personality = controller.cycle_long_personality()
+    assert next_personality == LongPersonality.relaxed  # should cycle to relaxed
+
+    next_personality = controller.cycle_long_personality()
+    assert next_personality == LongPersonality.standard  # should cycle back to standard
+
+  def test_toggle_functions(self, controller, mock_params):
+    """Test toggle functionality"""
+    # Set initial state to False
+    mock_params.bool_data['VibePersonalityEnabled'] = False
+
+    result = controller.toggle_personality()
+    assert result  # Should toggle to True
+    assert mock_params.bool_data['VibePersonalityEnabled']
+
+    # Set initial state to True
+    mock_params.bool_data['VibeAccelPersonalityEnabled'] = True
+
+    result = controller.toggle_accel_personality()
+    assert not result  # Should toggle to False
+    assert not mock_params.bool_data['VibeAccelPersonalityEnabled']
+
+  def test_enable_checks(self, controller, mock_params):
+    """Test various enable state checks"""
+    # All enabled
+    mock_params.bool_data = {
+      'VibePersonalityEnabled': True,
+      'VibeAccelPersonalityEnabled': True,
+      'VibeFollowPersonalityEnabled': True
+    }
+
+    assert controller.is_enabled()
+    assert controller.is_accel_enabled()
+    assert controller.is_follow_enabled()
+
+    # Main toggle disabled
+    mock_params.bool_data['VibePersonalityEnabled'] = False
+
+    assert not controller.is_enabled()
+    assert not controller.is_accel_enabled()
+    assert not controller.is_follow_enabled()
+
+  def test_accel_limits_calculation(self, controller, mock_params):
+    """Test acceleration limits calculation"""
+    # Enable all features through mock_params bool_data
+    mock_params.bool_data = {
+      'VibePersonalityEnabled': True,
+      'VibeAccelPersonalityEnabled': True,
+      'VibeFollowPersonalityEnabled': True
+    }
+
+    # Test with different speeds and personalities
+    controller.accel_personality = 1  # normal
+    controller.long_personality = 1  # standard
+
+    limits = controller.get_accel_limits(10.0)  # 10 m/s
+    assert limits is not None
+    min_a, max_a = limits
+    assert isinstance(min_a, float)
+    assert isinstance(max_a, float)
+    assert min_a < 0  # Should be negative (braking)
+    assert max_a > 0  # Should be positive (acceleration)
+
+    # Test with disabled controller
+    mock_params.bool_data['VibePersonalityEnabled'] = False
+    limits = controller.get_accel_limits(10.0)
+    assert limits is None
+
+  def test_follow_distance_multiplier(self, controller, mock_params):
+    """Test following distance multiplier calculation"""
+    # Enable controller
+    mock_params.bool_data['VibePersonalityEnabled'] = True
+    mock_params.bool_data['VibeFollowPersonalityEnabled'] = True
+
+    # Test with different speeds and personalities
+    controller.long_personality = LongPersonality.relaxed
+
+    multiplier = controller.get_follow_distance_multiplier(15.0)  # 15 m/s
+    assert multiplier is not None
+    assert isinstance(multiplier, float)
+    assert multiplier > 0
+
+    # Test with different personality - aggressive should have shorter distance
+    controller.long_personality = LongPersonality.aggressive
+    aggressive_multiplier = controller.get_follow_distance_multiplier(15.0)
+    assert aggressive_multiplier is not None
+    assert aggressive_multiplier < multiplier  # Aggressive should have shorter distance
+
+    # Test with disabled controller
+    mock_params.bool_data['VibeFollowPersonalityEnabled'] = False
+    multiplier = controller.get_follow_distance_multiplier(15.0)
+    assert multiplier is None
+
+  def test_personality_differences(self, controller, mock_params):
+    """Test that different personalities actually produce different values"""
+    # Enable controller
+    mock_params.bool_data['VibePersonalityEnabled'] = True
+    mock_params.bool_data['VibeAccelPersonalityEnabled'] = True
+    mock_params.bool_data['VibeFollowPersonalityEnabled'] = True
+
+    # Test acceleration differences - sport should have higher max acceleration than eco
+    controller.accel_personality = AccelPersonality.eco
+    eco_limits = controller.get_accel_limits(20.0)
+
+    controller.accel_personality = AccelPersonality.sport
+    sport_limits = controller.get_accel_limits(20.0)
+
+    assert sport_limits[1] > eco_limits[1]  # Sport should have higher max acceleration
+
+    # Test following distance differences - relaxed should have longer distance than aggressive
+    controller.long_personality = LongPersonality.relaxed
+    relaxed_dist = controller.get_follow_distance_multiplier(20.0)
+
+    controller.long_personality = LongPersonality.aggressive
+    aggressive_dist = controller.get_follow_distance_multiplier(20.0)
+
+    assert relaxed_dist > aggressive_dist  # Relaxed should have longer following distance
+
+  def test_reset(self, controller):
+    """Test reset functionality"""
+    # Change some values
+    controller.accel_personality = AccelPersonality.sport
+    controller.long_personality = LongPersonality.relaxed
+    controller.frame = 100
+
+    # Reset
+    controller.reset()
+
+    # Check defaults are restored
+    assert controller.accel_personality == AccelPersonality.normal
+    assert controller.long_personality == LongPersonality.standard
+    assert controller.frame == 0
+
+  def test_edge_cases(self, controller, mock_params):
+    """Test edge cases and error handling"""
+    # Enable all features
+    mock_params.bool_data = {
+      'VibePersonalityEnabled': True,
+      'VibeAccelPersonalityEnabled': True,
+      'VibeFollowPersonalityEnabled': True
+    }
+
+    # Test with zero speed
+    limits = controller.get_accel_limits(0.0)
+    assert limits is not None
+
+    multiplier = controller.get_follow_distance_multiplier(0.0)
+    assert multiplier is not None
+
+    # Test with very high speed
+    limits = controller.get_accel_limits(100.0)
+    assert limits is not None
+
+    multiplier = controller.get_follow_distance_multiplier(100.0)
+    assert multiplier is not None
+
+    # Test interpolation works correctly
+    low_speed_limits = controller.get_accel_limits(5.0)
+    high_speed_limits = controller.get_accel_limits(50.0)
+    assert low_speed_limits[1] > high_speed_limits[1]  # Max accel should decrease with speed
@@ -0,0 +1,81 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import log, custom
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.accel_personality import AccelPersonalityController
+from openpilot.sunnypilot.selfdrive.controls.lib.vibe_personality.follow_personality import FollowPersonalityController
+
+LongPersonality = log.LongitudinalPersonality
+AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+
+
+class VibePersonalityController:
+  def __init__(self):
+    self.accel = AccelPersonalityController()
+    self.follow = FollowPersonalityController()
+    self.params = Params()
+
+  @property
+  def frame(self):
+    return self.accel.frame
+
+  @frame.setter
+  def frame(self, value):
+    self.accel.frame = self.follow.frame = value
+
+  @property
+  def accel_personality(self):
+    return self.accel.accel_personality
+
+  @property
+  def long_personality(self):
+    return self.accel.long_personality
+
+  @long_personality.setter
+  def long_personality(self, value):
+    self.accel.long_personality = self.follow.long_personality = value
+
+  def set_accel_personality(self, personality: int) -> bool:
+    return self.accel.set_accel_personality(personality)
+
+  def cycle_accel_personality(self) -> int:
+    return self.accel.cycle_accel_personality()
+
+  def set_long_personality(self, personality: int) -> bool:
+    if personality not in [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]:
+      return False
+    self.long_personality = personality
+    self.params.put('LongitudinalPersonality', str(personality))
+    return True
+
+  def cycle_long_personality(self) -> int:
+    personalities = [LongPersonality.relaxed, LongPersonality.standard, LongPersonality.aggressive]
+    idx = personalities.index(self.long_personality)
+    next_p = personalities[(idx + 1) % len(personalities)]
+    self.set_long_personality(next_p)
+    return int(next_p)
+
+  def is_enabled(self) -> bool:
+    main_enabled = self.params.get_bool('VibePersonalityEnabled') or False
+    return main_enabled and (self.accel.is_enabled() or self.follow.is_enabled())
+
+  def get_accel_limits(self, v_ego: float) -> tuple[float, float] | None:
+    main_enabled = self.params.get_bool('VibePersonalityEnabled') or False
+    if not (main_enabled and self.accel.is_enabled()):
+      return None
+    return self.accel.get_accel_limits(v_ego)
+
+  def get_follow_distance_multiplier(self, v_ego: float) -> float | None:
+    main_enabled = self.params.get_bool('VibePersonalityEnabled') or False
+    if not (main_enabled and self.follow.is_enabled()):
+      return None
+    return self.follow.get_follow_distance_multiplier(v_ego)
+
+  def update(self):
+    self.accel.update()
+    self.follow.update()
@@ -4,13 +4,13 @@ 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
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target


 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
-AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 EventNameSP = custom.OnroadEventSP.EventName


@@ -33,9 +33,6 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
  speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
  speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
  speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
-  alert_1_str = ""
-  alert_2_str = ""
-  alert_size = AlertSize.none

  if CP.openpilotLongitudinalControl and CP.pcmCruise:
    # PCM long
@@ -43,16 +40,25 @@ def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messag
    pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
    pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
    speed_unit = "km/h" if metric else "mph"
-
-    alert_1_str = "Speed Limit Assist: Activation Required"
    alert_2_str = f"Manually change set speed to {pcm_long_required_max_set_speed_conv} {speed_unit} to activate"
-    alert_size = AlertSize.mid
+  else:
+    # Non PCM long
+    v_cruise_cluster = CS.vCruiseCluster * CV.KPH_TO_MS
+
+    req_plus, req_minus = compare_cluster_target(v_cruise_cluster, speed_limit_final_last, metric)
+    arrow_str = ""
+    if req_plus:
+      arrow_str = "RES/+"
+    elif req_minus:
+      arrow_str = "SET/-"
+
+    alert_2_str = f"Operate the {arrow_str} cruise control button to activate"

  return Alert(
-    alert_1_str,
+    "Speed Limit Assist: Activation Required",
    alert_2_str,
-    AlertStatus.normal, alert_size,
-    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .1)


 class EventsSP(EventsBase):
@@ -196,7 +202,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Automatically adjusting to the posted speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
  },

  EventNameSP.speedLimitChanged: {
@@ -204,7 +210,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Set speed changed",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
  },

  EventNameSP.speedLimitPreActive: {
@@ -216,7 +222,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "Automatically adjusting to the last speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 5.),
  },

  EventNameSP.e2eChime: {
@@ -224,6 +230,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      "",
      "",
      AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 0.1),
  },
 }
@@ -11,8 +11,6 @@
 #include "common/swaglog.h"
 #include "common/version.h"

-#include "sunnypilot/common/version.h"
-
 // ***** log metadata *****
 kj::Array<capnp::word> logger_build_init_data() {
  uint64_t wall_time = nanos_since_epoch();
@@ -21,7 +19,7 @@ kj::Array<capnp::word> logger_build_init_data() {
  auto init = msg.initEvent().initInitData();

  init.setWallTimeNanos(wall_time);
-  init.setVersion(SUNNYPILOT_VERSION);
+  init.setVersion(COMMA_VERSION);
  init.setDirty(!getenv("CLEAN"));
  init.setDeviceType(Hardware::get_device_type());

@@ -67,7 +67,6 @@ def manager_init() -> None:
  params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
  params.put_bool("IsTestedBranch", build_metadata.tested_channel)
  params.put_bool("IsReleaseBranch", build_metadata.release_channel)
-  params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel)
  params.put("HardwareSerial", serial)

  # set dongle id
@@ -82,7 +82,7 @@ def set_consistent_flag(consistent: bool) -> None:

 def parse_release_notes(basedir: str) -> bytes:
  try:
-    with open(os.path.join(basedir, "CHANGELOG.md"), "rb") as f:
+    with open(os.path.join(basedir, "RELEASES.md"), "rb") as f:
      r = f.read().split(b'\n\n', 1)[0]  # Slice latest release notes
    try:
      return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8")
@@ -294,7 +294,7 @@ class Updater:
      try:
        branch = self.get_branch(basedir)
        commit = self.get_commit_hash(basedir)[:7]
-        with open(os.path.join(basedir, "sunnypilot", "common", "version.h")) as f:
+        with open(os.path.join(basedir, "common", "version.h")) as f:
          version = f.read().split('"')[1]

        commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
@@ -10,11 +10,11 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date

-RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
+RELEASE_SP_BRANCHES = ['release-c3', 'release']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly']
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES

 SP_BRANCH_MIGRATIONS = {
  ("tici", "staging-c3-new"): "staging-tici",
@@ -33,13 +33,13 @@ terms_version: str = "2"


 def get_version(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "sunnypilot", "common", "version.h")) as _versionf:
+  with open(os.path.join(path, "common", "version.h")) as _versionf:
    version = _versionf.read().split('"')[1]
  return version


 def get_release_notes(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "CHANGELOG.md")) as f:
+  with open(os.path.join(path, "RELEASES.md")) as f:
    return f.read().split('\n\n', 1)[0]


@@ -96,9 +96,7 @@ class OpenpilotMetadata:
  @property
  def sunnypilot_remote(self) -> bool:
    return self.git_normalized_origin in ("github.com/sunnypilot/sunnypilot",
-                                          "github.com/sunnypilot/openpilot",
-                                          "github.com/sunnyhaibin/sunnypilot",
-                                          "github.com/sunnyhaibin/openpilot")
+                                          "github.com/sunnypilot/openpilot")

  @property
  def git_normalized_origin(self) -> str:
@@ -122,10 +120,6 @@ class BuildMetadata:
  def release_channel(self) -> bool:
    return self.channel in RELEASE_BRANCHES

-  @property
-  def release_sp_channel(self) -> bool:
-    return self.channel in RELEASE_SP_BRANCHES
-
  @property
  def canonical(self) -> str:
    return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}"
@@ -152,7 +146,7 @@ class BuildMetadata:
      return "staging"
    elif self.master_channel:
      return "master"
-    elif self.release_channel or self.release_sp_channel:
+    elif self.release_channel:
      return "release"
    else:
      return "feature"
@@ -14,8 +14,6 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"

-#include "sunnypilot/common/version.h"
-
 namespace CommaApi2 {

 // Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
@@ -143,7 +141,7 @@ std::string httpGet(const std::string &url, long *response_code) {

  // Handle headers
  struct curl_slist *headers = nullptr;
-  headers = curl_slist_append(headers, "User-Agent: openpilot-" SUNNYPILOT_VERSION);
+  headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
  if (!token.empty()) {
    headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
  }
@@ -10,8 +10,6 @@
 #include "common/util.h"
 #include "common/version.h"

-#include "sunnypilot/common/version.h"
-
 namespace {

 const int BORDER_SIZE = 3;
@@ -121,7 +119,7 @@ void ConsoleUI::initWindows() {

  // set the title bar
  wbkgd(w[Win::Title], A_REVERSE);
-  mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", SUNNYPILOT_VERSION);
+  mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", COMMA_VERSION);

  // show windows on the real screen
  refresh();
Author	SHA1	Message	Date
rav4kumar	6b10358865	sunny said to split it, now he is going to say make separate pr... coming up	2025-10-13 13:40:48 -07:00
rav4kumar	79e84fe081	clean up	2025-10-13 13:16:35 -07:00
rav4kumar	c1416c5c06	clean up	2025-10-13 12:55:55 -07:00
rav4kumar	2a4317aa56	vibe pytest cleanup	2025-10-13 12:55:55 -07:00
rav4kumar	555a0d1393	clean ul;	2025-10-13 12:55:55 -07:00
rav4kumar	f1f9894777	missing params	2025-10-13 12:55:55 -07:00
rav4kumar	0ff2dde674	vibe: Linear Interpolation	2025-10-13 12:55:55 -07:00
rav4kumar	1ddd0ea633	return type	2025-10-13 12:55:55 -07:00
rav4kumar	ba0f963357	good time to remove	2025-10-13 12:55:55 -07:00
rav4kumar	833a13e076	so picky	2025-10-13 12:55:55 -07:00
rav4kumar	652ede7264	vibe pytest	2025-10-13 12:55:55 -07:00
rav4kumar	1cd9c8cd3c	vibe	2025-10-13 12:55:53 -07:00