exact distance :)

favs
clear route
2026-06-20 01:02:07 +08:00 · 2025-11-16 10:53:57 -08:00 · 2025-11-13 19:33:32 -08:00 · 2025-11-13 09:39:00 -08:00 · 2025-11-13 07:06:27 -08:00 · 2025-11-12 19:48:10 -08:00
143 changed files with 2364 additions and 96 deletions
@@ -74,7 +74,7 @@ jobs:
        env:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
          cd gitlab_docs
          git checkout main
          git sparse-checkout set --no-cone models/
@@ -191,7 +191,7 @@ jobs:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
@@ -109,7 +109,7 @@ jobs:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
@@ -21,11 +21,12 @@ env:
  PYTHONWARNINGS: error
  BASE_IMAGE: sunnypilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: release/ci/docker_build_sp.sh base

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

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

@@ -156,6 +156,8 @@ jobs:
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ github.workspace }}/selfdrive/modeld/models
+      - run: |
+          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx

      - name: Build Model
        run: |
@@ -1,6 +1,30 @@
-sunnypilot Version 2025.002.000 (2025-xx-xx)
+sunnypilot Version 2025.003.000 (20xx-xx-xx)
 ========================

+sunnypilot Version 2025.002.000 (2025-11-06)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * models: bump model json to v8 by @Discountchubbs
+  * Bug: Model UI Crash Fix by @nayan8teen
+  * controlsd: add `CP_SP` to `get_pid_accel_limits` by @THERoenPR
+  * sunnylink: update uploader button logic to support novice tier and above by @devtekve
+  * Tesla: Coop Steering by @AmyJeanes
+  * ui: update discord references and add forum widget by @devtekve
+  * ui: Fix spacing in sunnylink panel by @devtekve
+  * docs: Update README installation branches and discord links by @mpurnell1 in
+  * stats: sunnylink integration by @devtekve
+  * bug: Fix initial registration for sunnylink by @devtekve
+* What's Changed (sunnypilot/opendbc)
+  * Honda: add brake hold messages for Clarity by @mvl-boston
+  * interface: add `CP_SP` to `get_pid_accel_limits` method signature by @roenthomas
+  * Honda: use fixed accel min/max constants for Gas Interceptor by @roenthomas
+  * Tesla: Coop Steering by @AmyJeanes
+* New Contributors (sunnypilot/sunnypilot)
+  * @THERoenPR made their first contribution in "controlsd: add `CP_SP` to `get_pid_accel_limits`"
+  * @AmyJeanes made their first contribution in "Tesla: Coop Steering"
+  * @mpurnell1 made their first contribution in "docs: Update README installation branches and discord links"
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.001.000...v2025.002.000
+
 sunnypilot Version 2025.001.000 (2025-10-25)
 ========================
 * 🛠️ Major rewrite
@@ -3,11 +3,9 @@
 ## 🌞 What is sunnypilot?
 [sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.

-## 💭 Join our Discord
-Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://discord.gg/sunnypilot
-
-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+## 💭 Join our Community Forum
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://community.sunnypilot.ai/

 ## Documentation
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
@@ -16,13 +14,13 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 * A supported device to run this software
    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
 * This software
-* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
+* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car

 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).

 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.

 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,28 +29,28 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
  4. Complete the rest of the installation following the onscreen instructions.

 * sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three, go to `Settings` ▶️ `Software`.
+  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`

-
-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
+### Recommended Branches
+|      Branch     |                 Installation URL              |
+|:---------------:|:---------------------------------------------:|
+| `release`       | `https://release.sunnypilot.ai`               |
+| `staging`       | `https://staging.sunnypilot.ai`               |
+|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |

 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.

 > [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.


 <details>
@@ -369,6 +369,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
  leadOne @2 :LeadData;
  leadTwo @3 :LeadData;
  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
+  speed @5 :Float32;

  struct Param {
    key @0 :Text;
@@ -454,7 +455,20 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
  }
 }

-struct CustomReserved10 @0xcb9fd56c7057593a {
+struct Navigationd @0xcb9fd56c7057593a {
+  upcomingTurn @0 :Text;
+  currentSpeedLimit @1 :UInt16;
+  bannerInstructions @2 :Text;
+  distanceFromRoute @3 :Float32;
+  allManeuvers @4 :List(Maneuver);
+  valid @5 :Bool;
+
+  struct Maneuver {
+    distance @0 :Float32;
+    type @1 :Text;
+    modifier @2 :Text;
+    instruction @3 :Text;
+  }
 }

 struct CustomReserved11 @0xc2243c65e0340384 {
@@ -2632,7 +2632,7 @@ struct Event {
    carStateSP @114 :Custom.CarStateSP;
    liveMapDataSP @115 :Custom.LiveMapDataSP;
    modelDataV2SP @116 :Custom.ModelDataV2SP;
-    customReserved10 @136 :Custom.CustomReserved10;
+    navigationd @136 :Custom.Navigationd;
    customReserved11 @137 :Custom.CustomReserved11;
    customReserved12 @138 :Custom.CustomReserved12;
    customReserved13 @139 :Custom.CustomReserved13;
@@ -89,6 +89,7 @@ _services: dict[str, tuple] = {
  "carStateSP": (True, 100., 10),
  "liveMapDataSP": (True, 1., 1),
  "modelDataV2SP": (True, 20.),
+  "navigationd": (True, 3.),
  "liveLocationKalman": (True, 20.),

  # debug
@@ -187,6 +187,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},

+    // Navigation params
+    {"AllowNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"MapboxFavorites", {PERSISTENT | BACKUP, STRING}},
+    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
+    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
+    {"MapboxRoute", {PERSISTENT, STRING}},
+    {"MapboxRecompute", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"NavDesiresAllowed", {PERSISTENT | BACKUP, BOOL, "0"}},
+
    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},

@@ -208,6 +217,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},

    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -3,6 +3,7 @@ from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
+from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires

 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -51,6 +52,7 @@ class DesireHelper:
    self.alc = AutoLaneChangeController(self)
    self.lane_turn_controller = LaneTurnController(self)
    self.lane_turn_direction = TurnDirection.none
+    self.navigation_desires = NavigationDesires()

  @staticmethod
  def get_lane_change_direction(CS):
@@ -143,3 +145,7 @@ class DesireHelper:
        self.desire = log.Desire.none

    self.alc.update_state()
+
+    nav_desire = self.navigation_desires.update(carstate, lateral_active)
+    if nav_desire != log.Desire.none and (self.desire == log.Desire.none or self.desire in (log.Desire.turnLeft, log.Desire.turnRight)):
+      self.desire = nav_desire
@@ -99,7 +99,7 @@ class SelfdriveD(CruiseHelper):
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
-                                   self.camera_packets + self.sensor_packets + self.gps_packets,
+                                  self.camera_packets + self.sensor_packets + self.gps_packets,
                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))

@@ -293,7 +293,7 @@ class SelfdriveD(CruiseHelper):
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
      direction = self.sm['modelV2'].meta.laneChangeDirection
      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+        (CS.rightBlindspot and direction == LaneChangeDirection.right):
        self.events.add(EventName.laneChangeBlocked)
      else:
        if direction == LaneChangeDirection.left:
@@ -301,7 +301,7 @@ class SelfdriveD(CruiseHelper):
        else:
          self.events.add(EventName.preLaneChangeRight)
    elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
-                                                    LaneChangeState.laneChangeFinishing):
+                                                     LaneChangeState.laneChangeFinishing):
      self.events.add(EventName.laneChange)

    # Handle lane turn
@@ -496,7 +496,7 @@ class SelfdriveD(CruiseHelper):

    # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
    if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
-           if ps.safetyModel not in IGNORED_SAFETY_MODES):
+                            if ps.safetyModel not in IGNORED_SAFETY_MODES):
      self.mismatch_counter += 1

    return CS
@@ -11,17 +11,18 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
  main_layout->setContentsMargins(56, 40, 56, 40);
  main_layout->setSpacing(42);  
  
-  QLabel *title = new QLabel(tr("<span style='font-family: \"Noto Color Emoji\";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>"));
-  title->setStyleSheet("font-size: 64px; font-weight: 500;");
+  community_popup = new SunnylinkCommunityPopup(this);
+  QLabel *title = new QLabel(tr("sunnypilot Community"));
+  title->setStyleSheet("font-size: 56px; font-weight: 500;");
  main_layout->addWidget(title);

-  QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models."));
+  QLabel *desc = new QLabel(tr("Need help or have ideas?<br><b>Join</b> our community now!"));
  desc->setStyleSheet("font-size: 40px; font-weight: 400;");
  desc->setWordWrap(true);
  main_layout->addWidget(desc);

-  QPushButton *settings_btn = new QPushButton(tr("Open"));
-  connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); });
+  QPushButton *settings_btn = new QPushButton(tr("Learn More"));
+  connect(settings_btn, &QPushButton::clicked, [=]() { community_popup->exec(); });
  settings_btn->setStyleSheet(R"(
    QPushButton {
      font-size: 48px;
@@ -3,12 +3,17 @@
 #include <QFrame>
 #include <QWidget>

+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
+
 class WiFiPromptWidget : public QFrame {
  Q_OBJECT

 public:
  explicit WiFiPromptWidget(QWidget* parent = 0);

+private:
+  SunnylinkCommunityPopup *community_popup;
+
 signals:
  void openSettings(int index = 0, const QString &param = "");
 };
@@ -30,11 +30,13 @@ qt_src = [
  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
  "sunnypilot/qt/offroad/settings/brightness.cc",
  "sunnypilot/qt/offroad/settings/models_panel.cc",
+  "sunnypilot/qt/offroad/settings/navigation_panel.cc",
  "sunnypilot/qt/offroad/settings/osm_panel.cc",
  "sunnypilot/qt/offroad/settings/settings.cc",
  "sunnypilot/qt/offroad/settings/software_panel.cc",
  "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
  "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
+  "sunnypilot/qt/offroad/settings/sunnylink/community_widget.cc",
  "sunnypilot/qt/offroad/settings/trips_panel.cc",
  "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
  "sunnypilot/qt/offroad/settings/visuals_panel.cc",
@@ -0,0 +1,190 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
+
+NavigationPanel::NavigationPanel(QWidget* parent) : QWidget(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 25, 50, 25);
+
+  list = new ListWidget(this, false);
+  scroller = new ScrollViewSP(list, this);
+  main_layout->addWidget(scroller);
+
+  // Mapbox Token
+  mapbox_token = new ButtonControl(tr("Mapbox token"), tr("Edit"), tr("Enter your mapbox public token"));
+  QObject::connect(mapbox_token, &ButtonControl::clicked, [=]() {
+    QString current = QString::fromStdString(params.get("MapboxToken"));
+    QString token = InputDialog::getText(tr("Enter Mapbox Token"), this, "", false, -1, current);
+    if (!token.isEmpty()) {
+      params.put("MapboxToken", token.toStdString());
+      refresh();
+    }
+  });
+  list->addItem(mapbox_token);
+
+  // Mapbox Route
+  mapbox_route = new ButtonControl(tr("Mapbox route"), tr("Edit"), tr(""));
+  QObject::connect(mapbox_route, &ButtonControl::clicked, [=]() {
+    QString current = QString::fromStdString(params.get("MapboxRoute"));
+    QString route = InputDialog::getText(tr("Enter Mapbox Route"), this, "", false, -1, current);
+    if (!route.isEmpty()) {
+      params.put("MapboxRoute", route.toStdString());
+      refresh();
+    }
+  });
+  list->addItem(mapbox_route);
+
+  // Clear Route
+  clear_route = new ButtonControl(tr("Clear current route"), tr("Clear"), tr(""));
+  QObject::connect(clear_route, &ButtonControl::clicked, [=]() {
+    params.remove("MapboxRoute");
+    refresh();
+  });
+  list->addItem(clear_route);
+
+  // Favs selector
+  favorites_selector = new MultiButtonControlSP("Favorites", "Select favorite route", "", {"Home", "Work", "Favs"}, 470);
+  QObject::connect(favorites_selector, &MultiButtonControlSP::buttonClicked, [=](int id) {
+    QString favs_str = QString::fromStdString(params.get("MapboxFavorites"));
+    QJsonDocument doc = QJsonDocument::fromJson(favs_str.toUtf8());
+    QJsonObject obj = doc.object();
+    QString route;
+    if (id == 0) route = obj["home"].toString();
+    else if (id == 1) route = obj["work"].toString();
+    else if (id == 2) {
+      QJsonObject favorites_obj = obj["favorites"].toObject();
+      if (favorites_obj.isEmpty()) {
+        ConfirmationDialog::alert(tr("No custom favorites set"), this);
+        return;
+      }
+      QStringList favNames = favorites_obj.keys();
+      const QString selected = MultiOptionDialog::getSelection(tr("Select Favorite"), favNames, "", this);
+      if (!selected.isEmpty()) {
+        route = favorites_obj[selected].toString();
+      }
+    }
+    if (!route.isEmpty()) {
+      params.put("MapboxRoute", route.toStdString());
+      refresh();
+    }
+  });
+  list->addItem(favorites_selector);
+
+  struct FavInfo {
+    QString key;
+    QString title;
+    QString desc;
+  };
+  std::vector<FavInfo> favs = {
+    {"home", tr("Set Home"), tr("")},
+    {"work", tr("Set Work"), tr("")}
+  };
+  set_buttons.resize(favs.size());
+  for (size_t i = 0; i < favs.size(); ++i) {
+    const auto& fav = favs[i];
+    set_buttons[i] = new ButtonControl(fav.title, tr("Set"), fav.desc);
+    QObject::connect(set_buttons[i], &ButtonControl::clicked, [this, fav]() {
+      QString favs_str = QString::fromStdString(params.get("MapboxFavorites"));
+      QJsonDocument doc = QJsonDocument::fromJson(favs_str.toUtf8());
+      QJsonObject obj = doc.object();
+      QString current = obj[fav.key].toString();
+      QString route = InputDialog::getText(tr("Set %1 Route").arg(fav.title.mid(4)), this, "", false, -1, current);  // mid(4) to remove "Set "
+      if (!route.isEmpty()) {
+        obj[fav.key] = route;
+        QJsonDocument new_doc(obj);
+        params.put("MapboxFavorites", new_doc.toJson(QJsonDocument::Compact).toStdString());
+        refresh();
+      }
+    });
+    list->addItem(set_buttons[i]);
+  }
+
+  add_fav = new ButtonControl(tr("Add Favorite"), tr("Add"), tr("Add a new custom favorite"));
+  QObject::connect(add_fav, &ButtonControl::clicked, [=]() {
+    QString name = InputDialog::getText(tr("Favorite Name"), this, "", false, -1, "");
+    if (name.isEmpty()) return;
+
+    QString route = InputDialog::getText(tr("Favorite Route"), this, "", false, -1, "");
+    if (route.isEmpty()) return;
+
+    QString favs_str = QString::fromStdString(params.get("MapboxFavorites"));
+    QJsonDocument doc = QJsonDocument::fromJson(favs_str.toUtf8());
+    QJsonObject obj = doc.object();
+    QJsonObject favorites_obj = obj["favorites"].toObject();
+    favorites_obj[name] = route;
+    obj["favorites"] = favorites_obj;
+    QJsonDocument new_doc(obj);
+    params.put("MapboxFavorites", new_doc.toJson(QJsonDocument::Compact).toStdString());
+    refresh();
+  });
+  list->addItem(add_fav);
+
+  remove_fav = new ButtonControl(tr("Remove Favorite"), tr("Remove"), tr("Remove a custom favorite"));
+  QObject::connect(remove_fav, &ButtonControl::clicked, [=]() {
+    QString favs_str = QString::fromStdString(params.get("MapboxFavorites"));
+    QJsonDocument doc = QJsonDocument::fromJson(favs_str.toUtf8());
+    QJsonObject obj = doc.object();
+    QJsonObject favorites_obj = obj["favorites"].toObject();
+    if (favorites_obj.isEmpty()) {
+      ConfirmationDialog::alert(tr("No custom favorites to remove"), this);
+      return;
+    }
+    QStringList favNames = favorites_obj.keys();
+    const QString selected = MultiOptionDialog::getSelection(tr("Remove Favorite"), favNames, "", this);
+    if (!selected.isEmpty()) {
+      favorites_obj.remove(selected);
+      obj["favorites"] = favorites_obj;
+      QJsonDocument new_doc(obj);
+      params.put("MapboxFavorites", new_doc.toJson(QJsonDocument::Compact).toStdString());
+      refresh();
+    }
+  });
+  list->addItem(remove_fav);
+
+  // Dumb params
+  allow_navigation = new ParamControlSP("AllowNavigation", tr("Allow navigation"), tr("Enable navigation features and start navigationd"), "", this);
+  QObject::connect(allow_navigation, &ParamControlSP::toggleFlipped, this, &NavigationPanel::updateNavigationVisibility);
+  list->addItem(allow_navigation);
+
+  mapbox_recompute = new ParamControlSP("MapboxRecompute", tr("Mapbox recompute"), tr("Enable automatic route recomputation"), "", this);
+  list->addItem(mapbox_recompute);
+
+  nav_allowed = new ParamControlSP("NavDesiresAllowed", tr("Navigation allowed"), tr("Allow navigation to automatically take turns"), "", this);
+  list->addItem(nav_allowed);
+}
+
+void NavigationPanel::updateNavigationVisibility(bool state) {
+  mapbox_recompute->setVisible(state);
+  nav_allowed->setVisible(state);
+  favorites_selector->setVisible(state);
+  for (auto btn : set_buttons) {
+    btn->setVisible(state);
+  }
+  add_fav->setVisible(state);
+  remove_fav->setVisible(state);
+}
+
+void NavigationPanel::showEvent(QShowEvent *event) {
+  refresh();
+}
+
+void NavigationPanel::refresh() {
+  allow_navigation->refresh();
+
+  bool nav_enabled = allow_navigation->isToggled();
+  updateNavigationVisibility(nav_enabled);
+
+  QString token = QString::fromStdString(params.get("MapboxToken"));
+  mapbox_token->setValue(token.isEmpty() ? tr("Not set") : token);
+
+  QString route = QString::fromStdString(params.get("MapboxRoute"));
+  mapbox_route->setValue(route.isEmpty() ? tr("Not set") : route);
+
+  mapbox_recompute->refresh();
+  nav_allowed->refresh();
+}
@@ -0,0 +1,42 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <vector>
+
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class NavigationPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit NavigationPanel(QWidget* parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+  void refresh();
+
+public slots:
+  void updateNavigationVisibility(bool state);
+
+private:
+  Params params;
+  ListWidget* list;
+  ScrollViewSP* scroller;
+  ParamControlSP* allow_navigation;
+  ButtonControl* mapbox_token;
+  ButtonControl* mapbox_route;
+  ButtonControl* clear_route;
+  ParamControlSP* mapbox_recompute;
+  ParamControlSP* nav_allowed;
+  MultiButtonControlSP* favorites_selector;
+  std::vector<ButtonControl*> set_buttons;
+  ButtonControl* add_fav;
+  ButtonControl* remove_fav;
+};
@@ -15,6 +15,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
@@ -85,6 +86,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
    PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
    PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
    PanelInfo("   " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
+    PanelInfo("   " + tr("Navigation"), new NavigationPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
    PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
    PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
    PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
@@ -0,0 +1,139 @@
+/**
+ * Copyright (c) 2025-, sunnypilot contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/community_widget.h"
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
+using qrcodegen::QrCode;
+
+// --- SunnylinkCommunityQRWidget ---
+
+SunnylinkCommunityQRWidget::SunnylinkCommunityQRWidget(QWidget* parent)
+    : QWidget(parent) {}
+
+void SunnylinkCommunityQRWidget::showEvent(QShowEvent *event) {
+  updateQrCode(SUNNYLINK_COMMUNITY_URL);
+  update();
+}
+
+void SunnylinkCommunityQRWidget::updateQrCode(const QString &text) {
+  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
+  qint32 sz = qr.getSize();
+  QImage im(sz, sz, QImage::Format_RGB32);
+
+  QRgb black = qRgb(0, 0, 0);
+  QRgb white = qRgb(255, 255, 255);
+  for (int y = 0; y < sz; y++) {
+    for (int x = 0; x < sz; x++) {
+      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
+    }
+  }
+
+  int final_sz = ((width() / sz) - 1) * sz;
+  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
+}
+
+void SunnylinkCommunityQRWidget::paintEvent(QPaintEvent *e) {
+  QPainter p(this);
+  p.fillRect(rect(), Qt::white);
+
+  if (!img.isNull()) {
+    QSize s = (size() - img.size()) / 2;
+    p.drawPixmap(s.width(), s.height(), img);
+  }
+}
+
+// --- SunnylinkCommunityPopup ---
+
+QStringList SunnylinkCommunityPopup::getInstructions() {
+  QStringList instructions;
+  instructions << tr("Scan the QR code and join us!");
+  return instructions;
+}
+
+SunnylinkCommunityPopup::SunnylinkCommunityPopup(QWidget* parent)
+    : DialogBase(parent) {
+  auto *mainLayout = new QVBoxLayout(this);
+  mainLayout->setContentsMargins(0, 0, 0, 0);
+  mainLayout->setSpacing(0);
+
+  // Solarized Light base3 background
+  setStyleSheet("SunnylinkCommunityPopup { background-color: #FDF6E3; }");
+
+  // Header spanning full width
+  auto headerWidget = new QWidget(this);
+  auto headerLayout = new QHBoxLayout(headerWidget);
+  headerLayout->setContentsMargins(85, 50, 85, 30);
+  headerLayout->setSpacing(30);
+
+  auto close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
+  close->setIconSize(QSize(80, 80));
+  close->setStyleSheet("border: none;");
+  connect(close, &QPushButton::clicked, this, &QDialog::reject);
+  headerLayout->addWidget(close, 0, Qt::AlignLeft | Qt::AlignVCenter);
+
+  const auto title = new QLabel(tr("Join the sunnypilot Community Forum"), this);
+  // Solarized base02 for text
+  title->setStyleSheet("font-size: 65px; color: #073642;");
+  title->setWordWrap(false);
+  title->setAlignment(Qt::AlignCenter);
+  headerLayout->addWidget(title, 1);
+
+  // Spacer to balance the close button on the right
+  auto spacer = new QWidget(this);
+  spacer->setFixedSize(80, 80);
+  headerLayout->addWidget(spacer, 0);
+
+  mainLayout->addWidget(headerWidget);
+
+  // Two-column content layout
+  auto contentLayout = new QHBoxLayout();
+  contentLayout->setContentsMargins(0, 0, 0, 0);
+  contentLayout->setSpacing(0);
+  mainLayout->addLayout(contentLayout, 66);
+
+  // Left side: description
+  auto leftLayout = new QVBoxLayout();
+  leftLayout->setContentsMargins(85, 40, 50, 70);
+  leftLayout->setSpacing(35);
+  contentLayout->addLayout(leftLayout, 40);
+
+  // Hype / intro paragraph
+  const auto desc = new QLabel(tr(
+    "We're excited to announce our <b>sunnypilot Community Forum</b><br><br>"
+    "Over the years, Discord just hasn't scaled well for our growing community.<br>"
+    "It's noisy, unsearchable, and great discussions disappear too easily.<br>"
+    "Our new community forum aims to fix that by making it easier to <b>find answers, share ideas, track feedback, report bugs, help newcomers</b> and more!<br><br>"
+    "<b>Here's what's waiting for you:</b><br>"
+    "• Fully <b>indexable</b> and discoverable through search engines 🔎<br>"
+    "• <b>AI-powered</b>🤖 topic and chat summaries, spam detection, and more<br>"
+    "• A <b>trust-level system</b>✅ that rewards meaningful contributions<br>"
+    "• Designed to work <b>on your own time</b>.🧘<br><br>"
+    "Scan the QR code on the right and join the discussion!"
+  ), this);
+  // Solarized base01 for body text
+  desc->setStyleSheet("font-size: 40px; color: #586E75;");
+  desc->setWordWrap(true);
+  leftLayout->addWidget(desc);
+
+  leftLayout->addStretch();
+
+  // Right side: QR code and instructions
+  auto rightLayout = new QVBoxLayout();
+  rightLayout->setContentsMargins(50, 40, 85, 70);
+  rightLayout->setSpacing(40);
+  contentLayout->addLayout(rightLayout, 1);
+
+  // QR code (smaller, fixed size)
+  auto *qr = new SunnylinkCommunityQRWidget(this);
+  qr->setFixedSize(500, 500);
+  rightLayout->addStretch();
+  rightLayout->addWidget(qr, 0, Qt::AlignCenter);
+  rightLayout->addStretch();
+}
@@ -0,0 +1,40 @@
+/**
+* Copyright (c) 2025-, sunnypilot contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QrCode.hpp>
+#include <QtCore/qjsonobject.h>
+
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+const QString SUNNYLINK_COMMUNITY_URL = "https://community.sunnypilot.ai/sp-qr";
+
+class SunnylinkCommunityQRWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityQRWidget(QWidget* parent = nullptr);
+  void paintEvent(QPaintEvent*) override;
+
+private:
+  QPixmap img;
+  void updateQrCode(const QString &text);
+  void showEvent(QShowEvent *event) override;
+};
+
+// Popup widget
+class SunnylinkCommunityPopup : public DialogBase {
+  Q_OBJECT
+
+public:
+  explicit SunnylinkCommunityPopup(QWidget* parent = nullptr);
+
+private:
+  static QStringList getInstructions();
+};
@@ -79,11 +79,11 @@ QStringList SunnylinkSponsorPopup::getInstructions(bool sponsor_pair) {
    instructions << tr("Scan the QR code to login to your GitHub account")
                 << tr("Follow the prompts to complete the pairing process")
                 << tr("Re-enter the \"sunnylink\" panel to verify sponsorship status")
-                 << tr("If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot");
+                 << tr("If sponsorship status was not updated, please contact a moderator on our forum at https://community.sunnypilot.ai");
  } else {
    instructions << tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page")
                 << tr("Choose your sponsorship tier and confirm your support")
-                 << tr("Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status");
+                 << tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues");
  }
  return instructions;
 }
@@ -90,7 +90,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
  sunnylinkUploaderEnabledBtn = new ParamControlSP(
    "EnableSunnylinkUploader",
-    tr("Enable sunnylink uploader (just for testing infrastructure)"),
+    tr("Enable sunnylink uploader (infrastructure test)"),
    sunnylinkUploaderDesc,
    "", nullptr, true);
  list->addItem(sunnylinkUploaderEnabledBtn);
@@ -8,7 +8,41 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"

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

 void TeslaSettings::updateSettings() {
+  coopSteeringToggle->setEnabled(offroad);
 }
@@ -22,5 +22,5 @@ public:
  void updateSettings() override;

 private:
-  bool offroad = false;
+  ParamControlSP *coopSteeringToggle = nullptr;
 };
@@ -5,6 +5,7 @@
 * See the LICENSE.md file in the root directory for more details.
 */
 #include <QPainterPath>
+#include <cmath>

 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"

@@ -154,6 +155,73 @@ void HudRendererSP::updateState(const UIState &s) {

  allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
                     sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
+
+  // Navigationd
+  if (sm.updated("navigationd")) {
+    auto nav = sm["navigationd"].getNavigationd();
+    navigationValid = nav.getValid();
+    if (navigationValid && nav.getAllManeuvers().size() > 0) {
+      int currManeuverIdx = nav.getAllManeuvers().size() > 1 ? 1 : 0;
+      auto maneuver = nav.getAllManeuvers()[currManeuverIdx];
+      navigationModifier = QString::fromStdString(maneuver.getModifier());
+      navigationManeuverType = QString::fromStdString(maneuver.getType());
+
+      float dist = maneuver.getDistance();
+      if (is_metric) {
+        if (dist < 1000) {
+          if (dist < 500) {
+            navigationDistance = QString::number(std::round(dist / 25.0) * 25) + " m";
+          }
+          else {
+            navigationDistance = QString::number(std::round(dist / 50.0) * 50) + " m";
+          }
+        } else {
+          float dist_km = dist / 1000;
+          if (dist_km >= 10.0) {
+            navigationDistance = QString::number(std::floor(dist_km)) + " km";
+          } else {
+            navigationDistance = QString::number(dist_km, 'f', 1) + " km";
+          }
+        }
+      } else {
+        float dist_ft = dist * 3.28084f;
+        if (dist_ft < 1000) {
+          if (dist_ft <= 100){
+            navigationDistance = QString::number((std::round(dist_ft / 10.0) * 10)) + " ft";
+          }
+          else {
+            navigationDistance = QString::number((std::round(dist_ft / 50.0) * 50)) + " ft";
+          }
+        } else {
+          float dist_mi = dist_ft / 5280;
+          if (dist_mi >= 10.0) {
+            navigationDistance = QString::number(std::floor(dist_mi)) + " mi";
+          } else {
+            navigationDistance = QString::number(dist_mi, 'f', 1) + " mi";
+          }
+        }
+      }
+
+      QString instruction = QString::fromStdString(maneuver.getInstruction());
+      QStringList parts = instruction.split(" onto ");
+      if (parts.size() > 1) {
+        navigationStreet = parts[1].trimmed();
+      } else {
+        navigationStreet = instruction;
+      }
+      navigationStreet = navigationStreet.replace(".", "");
+
+      // Get next maneuver if available
+      if (nav.getAllManeuvers().size() > 2) {
+        auto nextManeuver = nav.getAllManeuvers()[2];
+        navigationNextModifier = QString::fromStdString(nextManeuver.getModifier());
+        navigationNextManeuverType = QString::fromStdString(nextManeuver.getType());
+        navigationHasNext = true;
+      } else {
+        navigationHasNext = false;
+      }
+    }
+  }
 }

 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -287,6 +355,8 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
    }
  }

+  drawNavigationHUD(p, surface_rect);
+
  p.restore();
 }

@@ -306,9 +376,14 @@ bool HudRendererSP::pulseElement(int frame) {
 }

 void HudRendererSP::drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name) {
-  int x = surface_rect.center().x();
+  int base_x = surface_rect.center().x();
  int y = surface_rect.height() / 4;

+  if (navigationValid) {
+    base_x = 618;
+    y = 420;
+  }
+
  QString text = QString::fromStdString(name);
  QFont font = InterFont(36, QFont::Bold);
  p.setFont(font);
@@ -319,7 +394,7 @@ void HudRendererSP::drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &s
  int box_width = 160;
  int box_height = fm.height() + padding_v * 2;

-  QRectF bg_rect(x - (box_width / 2) + x_offset,
+  QRectF bg_rect(base_x - (box_width / 2) + x_offset,
                 y - (box_height / 2) + y_offset,
                 box_width, box_height);

@@ -684,15 +759,16 @@ void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect)
 }

 void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
-  // Draw outer box + border to contain set speed
-  const QSize default_size = {172, 204};
-  QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
-  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-
-  // Draw set speed box
-  p.setPen(QPen(QColor(255, 255, 255, 75), 6));
-  p.setBrush(QColor(0, 0, 0, 166));
-  p.drawRoundedRect(set_speed_rect, 32, 32);
+  // ICBM counter logic
+  if (!pcmCruiseSpeed && carControlEnabled) {
+    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
+      icbm_active_counter = 3 * UI_FREQ;
+    } else if (icbm_active_counter > 0) {
+      icbm_active_counter--;
+    }
+  } else {
+    icbm_active_counter = 0;
+  }

  // Colors based on status
  QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
@@ -713,29 +789,62 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
    }
  }

-  // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-  if (!pcmCruiseSpeed && carControlEnabled) {
-    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
-      icbm_active_counter = 3 * UI_FREQ;
-    } else if (icbm_active_counter > 0) {
-      icbm_active_counter--;
-    }
-  } else {
-    icbm_active_counter = 0;
-  }
-  int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
-  int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
  QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX");
-
-  p.setFont(InterFont(max_str_size, QFont::DemiBold));
-  p.setPen(max_color);
-  p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
-
-  // Draw set speed
  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
-  p.setFont(InterFont(90, QFont::Bold));
-  p.setPen(set_speed_color);
-  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+
+  if (!navigationValid) {
+    // Original positions when navigation is not valid
+    const QSize default_size = {172, 204};
+    QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
+    QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
+
+    // Draw set speed box
+    p.setPen(QPen(QColor(255, 255, 255, 75), 6));
+    p.setBrush(QColor(0, 0, 0, 166));
+    p.drawRoundedRect(set_speed_rect, 32, 32);
+
+    // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
+    int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
+    int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
+
+    p.setFont(InterFont(max_str_size, QFont::DemiBold));
+    p.setPen(max_color);
+    p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
+
+    // Draw set speed
+    p.setFont(InterFont(90, QFont::Bold));
+    p.setPen(set_speed_color);
+    p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+  } else {
+    // Modified positions when navigation is valid
+    const int container_width = 200;
+    const int container_height = 320;
+    const int container_x = 40;
+    const int container_y = 45;
+
+    QRect speed_container(container_x, container_y, container_width, container_height);
+
+    // Draw outer rounded rectangle container
+    p.setPen(QPen(QColor(255, 255, 255, 75), 6));
+    p.setBrush(QColor(0, 0, 0, 166));
+    p.drawRoundedRect(speed_container, 24, 24);
+
+    int divider_y = container_y + 190;
+    p.setPen(QPen(QColor(255, 255, 255, 50), 2));
+    p.drawLine(container_x + 20, divider_y, container_x + container_width - 20, divider_y);
+
+    // max label
+    QRect max_label_rect(container_x, container_y + 200, container_width, 35);
+    p.setFont(InterFont(32, QFont::Normal));
+    p.setPen(max_color);
+    p.drawText(max_label_rect, Qt::AlignCenter, max_str);
+
+    // Set speed value
+    QRect set_speed_rect(container_x, container_y + 240, container_width, 70);
+    p.setFont(InterFont(68, QFont::Bold));
+    p.setPen(set_speed_color);
+    p.drawText(set_speed_rect, Qt::AlignCenter, setSpeedStr);
+  }
 }

 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
@@ -794,12 +903,40 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q

 void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
  QString speedStr = QString::number(std::nearbyint(speed));
+  QString unit = is_metric ? tr("km/h") : tr("mph");

-  p.setFont(InterFont(176, QFont::Bold));
-  HudRenderer::drawText(p, surface_rect.center().x(), 210, speedStr);
+  int speed_x = surface_rect.center().x();
+  int speed_y = 210;
+  int unit_y = 290;
+  QFont speed_font = InterFont(176, QFont::Bold);
+  QFont unit_font = InterFont(66);

-  p.setFont(InterFont(66));
-  HudRenderer::drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
+  if (navigationValid) {
+    speed_y = 75;
+    unit_y = 175;
+    speed_font = InterFont(100, QFont::Bold);
+    unit_font = InterFont(35, QFont::Normal);
+  }
+
+  // Draw speed
+  p.setFont(speed_font);
+  if (!navigationValid) {
+    HudRenderer::drawText(p, speed_x, speed_y, speedStr);
+  } else {
+    QRect current_speed_rect(40, speed_y, 200, 100);
+    p.setPen(Qt::white);
+    p.drawText(current_speed_rect, Qt::AlignCenter, speedStr);
+  }
+
+  // Draw unit
+  p.setFont(unit_font);
+  if (!navigationValid) {
+    HudRenderer::drawText(p, speed_x, unit_y, unit, 200);
+  } else {
+    QRect unit_rect(40, unit_y, 200, 40);
+    p.setPen(QColor(180, 180, 180, 255));
+    p.drawText(unit_rect, Qt::AlignCenter, unit);
+  }
 }

 void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
@@ -827,7 +964,7 @@ void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
  const int circleRadius = 60;
  const int arrowLength = 60;
  const int x_gap = 160;
-  const int y_offset = 272;
+  const int y_offset = navigationValid ? 352 : 300;

  const int centerX = surface_rect.center().x();

@@ -885,3 +1022,186 @@ void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {

  p.restore();
 }
+
+QString HudRendererSP::getNavigationIconName(const QString &type, const QString &mod) {
+  static QMap<QString, QString> icon_map;
+  if (icon_map.isEmpty()) {
+    icon_map["turn|uturn"] = "direction_uturn.png";
+    icon_map["turn|sharp right"] = "direction_turn_sharp_right.png";
+    icon_map["turn|right"] = "direction_turn_right.png";
+    icon_map["turn|slight right"] = "direction_turn_slight_right.png";
+    icon_map["turn|straight"] = "direction_turn_straight.png";
+    icon_map["turn|slight left"] = "direction_turn_slight_left.png";
+    icon_map["turn|left"] = "direction_turn_left.png";
+    icon_map["turn|sharp left"] = "direction_turn_sharp_left.png";
+
+    icon_map["arrive|right"] = "direction_arrive_right.png";
+    icon_map["arrive|straight"] = "direction_arrive_straight.png";
+    icon_map["arrive|left"] = "direction_arrive_left.png";
+    icon_map["arrive|"] = "direction_arrive.png";
+
+    icon_map["merge|slight right"] = "direction_merge_slight_right.png";
+    icon_map["merge|right"] = "direction_merge_right.png";
+    icon_map["merge|straight"] = "direction_merge_straight.png";
+    icon_map["merge|slight left"] = "direction_merge_slight_left.png";
+    icon_map["merge|left"] = "direction_merge_left.png";
+
+    icon_map["on ramp|sharp right"] = "direction_on_ramp_sharp_right.png";
+    icon_map["on ramp|right"] = "direction_on_ramp_right.png";
+    icon_map["on ramp|slight right"] = "direction_on_ramp_slight_right.png";
+    icon_map["on ramp|straight"] = "direction_on_ramp_straight.png";
+    icon_map["on ramp|slight left"] = "direction_on_ramp_slight_left.png";
+    icon_map["on ramp|left"] = "direction_on_ramp_left.png";
+    icon_map["on ramp|sharp left"] = "direction_on_ramp_sharp_left.png";
+
+    icon_map["off ramp|slight right"] = "direction_off_ramp_slight_right.png";
+    icon_map["off ramp|right"] = "direction_off_ramp_right.png";
+    icon_map["off ramp|slight left"] = "direction_off_ramp_slight_left.png";
+    icon_map["off ramp|left"] = "direction_off_ramp_left.png";
+
+    icon_map["roundabout|sharp right"] = "direction_roundabout_sharp_right.png";
+    icon_map["roundabout|right"] = "direction_roundabout_right.png";
+    icon_map["roundabout|slight right"] = "direction_roundabout_slight_right.png";
+    icon_map["roundabout|straight"] = "direction_roundabout_straight.png";
+    icon_map["roundabout|slight left"] = "direction_roundabout_slight_left.png";
+    icon_map["roundabout|left"] = "direction_roundabout_left.png";
+    icon_map["roundabout|sharp left"] = "direction_roundabout_sharp_left.png";
+    icon_map["roundabout|"] = "direction_roundabout.png";
+  }
+
+  QString normalized_type = type;
+  if (normalized_type == "rotary") {
+    normalized_type = "roundabout";
+  } else if (normalized_type == "new name") {
+    normalized_type = "turn";
+  } else if (normalized_type == "continue") {
+    normalized_type = "turn";
+  }
+
+  QString icon_name;
+  QStringList keys = {normalized_type + "|" + mod, normalized_type + "|", "turn|" + mod};
+  for (const QString &key : keys) {
+    icon_name = icon_map.value(key);
+    if (!icon_name.isEmpty()) break;
+  }
+  if (icon_name.isEmpty()) {
+    icon_name = "direction_turn_straight.png";
+  }
+  return icon_name;
+}
+
+void HudRendererSP::drawNavigationHUD(QPainter &p, const QRect &surface_rect) {
+  if (!navigationValid) return;
+  p.save();
+
+  const int container_width = 1080;
+  const int container_height = 225;
+  int container_x = (surface_rect.width() - container_width) / 2;
+  const int container_y = 62;
+  const int border_radius = 42;
+
+
+  if (speedLimitAssistState == cereal::LongitudinalPlanSP::SpeedLimit::AssistState::PRE_ACTIVE) {
+    container_x += 190;
+  }
+
+  QRect container_rect(container_x, container_y, container_width, container_height);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(QColor(0, 0, 0, 180));
+  p.drawRoundedRect(container_rect, border_radius, border_radius);
+
+  // Navigation icon
+  const int icon_size = 150;
+  const int icon_padding = 30;
+  const int icon_x = container_x + icon_padding;
+  const int icon_y = container_y;
+
+  QString icon_name = getNavigationIconName(navigationManeuverType, navigationModifier);
+  QPixmap nav_icon = loadPixmap("../../sunnypilot/selfdrive/assets/navigation/" + icon_name, {icon_size, icon_size});
+
+  if (!nav_icon.isNull()) {
+    p.drawPixmap(icon_x, icon_y, nav_icon);
+  }
+
+  // Distance
+  p.setFont(InterFont(48, QFont::Bold));
+  p.setPen(Qt::white);
+  QRect distance_rect(icon_x - 25, icon_y + icon_size, icon_size + 50, 38);
+  p.drawText(distance_rect, Qt::AlignCenter, navigationDistance);
+
+  const int then_section_width = 180;
+  const int text_x = icon_x + icon_size + 53;
+  const int text_area_width = container_width - (text_x - container_x) - icon_padding - then_section_width;
+
+  // Street name
+  p.setFont(InterFont(75, QFont::Bold));
+  p.setPen(Qt::white);
+  QFontMetrics fm(p.font());
+
+  QString street_line1, street_line2;
+  QStringList words = navigationStreet.split(' ');
+  QString currentLine;
+
+  for (int i = 0; i < words.size(); ++i) {
+    QString testLine = currentLine.isEmpty() ? words[i] : currentLine + " " + words[i];
+    if (fm.horizontalAdvance(testLine) <= text_area_width) {
+      currentLine = testLine;
+    } else {
+      if (street_line1.isEmpty()) {
+        street_line1 = currentLine;
+        currentLine = words[i];
+      } else {
+        break;
+      }
+    }
+  }
+
+  if (street_line1.isEmpty()) {
+    street_line1 = currentLine;
+  } else if (!currentLine.isEmpty()) {
+    street_line2 = currentLine;
+    if (words.size() > words.indexOf(currentLine.split(' ').last()) + 1) {
+      street_line2 = fm.elidedText(street_line2, Qt::ElideRight, text_area_width);
+    }
+  }
+
+  if (street_line2.isEmpty()) {
+    QRect street_rect(text_x, container_y + (container_height - fm.height()) / 2, text_area_width, fm.height());
+    p.drawText(street_rect, Qt::AlignLeft | Qt::AlignVCenter, street_line1);
+  } else {
+    QRect street_rect1(text_x, container_y + 23, text_area_width, fm.height());
+    p.drawText(street_rect1, Qt::AlignLeft | Qt::AlignVCenter, street_line1);
+
+    QRect street_rect2(text_x, container_y + 23 + fm.height(), text_area_width, fm.height());
+    p.drawText(street_rect2, Qt::AlignLeft | Qt::AlignVCenter, street_line2);
+  }
+
+  // Next Maneuver
+  if (navigationHasNext) {
+    const int divider_x = container_x + container_width - then_section_width - 8;
+    p.setPen(QPen(QColor(255, 255, 255, 50), 2));
+    p.drawLine(divider_x, container_y + 23, divider_x, container_y + container_height - 23);
+
+    const int then_x = divider_x + 15;
+    const int then_icon_size = 105;
+
+    QRect then_label_rect(then_x, container_y + 30, then_section_width - 23, 38);
+    p.setFont(InterFont(53, QFont::Medium));
+    p.setPen(Qt::white);
+    p.drawText(then_label_rect, Qt::AlignCenter, tr("Then"));
+
+    // Next maneuver icon
+    const int then_icon_x = then_x + (then_section_width - 23 - then_icon_size) / 2;
+    const int then_icon_y = container_y + 75;
+
+    QString next_icon_name = getNavigationIconName(navigationNextManeuverType, navigationNextModifier);
+    QPixmap next_nav_icon = loadPixmap("../../sunnypilot/selfdrive/assets/navigation/" + next_icon_name, {then_icon_size, then_icon_size});
+
+    if (!next_nav_icon.isNull()) {
+      p.drawPixmap(then_icon_x, then_icon_y, next_nav_icon);
+    }
+  }
+
+  p.restore();
+}
@@ -39,6 +39,8 @@ private:
  void drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text = "");
  void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect);
  void drawBlinker(QPainter &p, const QRect &surface_rect);
+  void drawNavigationHUD(QPainter &p, const QRect &surface_rect);
+  QString getNavigationIconName(const QString &type, const QString &mod);

  bool lead_status;
  float lead_d_rel;
@@ -120,4 +122,13 @@ private:
  float speedCluster = 0;
  int icbm_active_counter = 0;
  bool pcmCruiseSpeed = true;
+
+  bool navigationValid;
+  QString navigationStreet;
+  QString navigationDistance;
+  QString navigationModifier;
+  QString navigationManeuverType;
+  QString navigationNextModifier;
+  QString navigationNextManeuverType;
+  bool navigationHasNext;
 };
@@ -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", "carParamsSP", "navigationd"
  });

  // update timer
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.002.000"
+#define SUNNYPILOT_VERSION "2025.003.000"
@@ -0,0 +1,6 @@
+# Navigation
+
+Navigation daemon with Mapbox integration for semi-offline navigation. This module handles route planning, geocoding, and turn-by-turn instructions to support autonomous driving features.
+
+- `navigation_helpers/`: Mapbox API integration and navigation instructions processing.
+- `navigationd`: Navigation service which uses mapbox integration to generate a route and keep it up to date. This service runs at three hz, using keep time to ensure the while loop only updates three times a second rather than every time sm updates, which in this case would be twenty hz (LLK).
@@ -0,0 +1,16 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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.
+"""
+
+
+class NAV_CV:
+  """ These distances are expected in meters format and convert to desired format """
+  SHORT_DISTANCE_METERS = 200.0
+  QUARTER_MILE = 402.336
+  POINT_ONE_MILE = 160.9344
+  METERS_TO_KILO = 1000  # divide n by this
+  METERS_TO_MILE = 1609.344  # divide n by this
+  METERS_TO_FEET = 3.280839895  # multiply n by this
@@ -72,6 +72,15 @@ class Coordinate:
    return x * EARTH_MEAN_RADIUS


+def bearing_between_two_points(point_one: Coordinate, point_two: Coordinate) -> float:
+  dlon = math.radians(point_two.longitude - point_one.longitude)
+  bearing_radians = math.atan2(math.sin(dlon)* math.cos(point_two.latitude), math.cos(point_one.latitude) * math.sin(point_two.latitude) -
+                               math.sin(point_one.latitude) * math.cos(point_two.latitude) * math.cos(dlon))
+  bearing_degrees = math.degrees(bearing_radians)
+  bearing_normalized = (bearing_degrees + 360) % 360
+  return bearing_normalized
+
+
 def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
  if a.distance_to(b) < 0.01:
    return a.distance_to(p)
@@ -126,6 +135,8 @@ def string_to_direction(direction: str) -> str:
    if d in direction:
      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
        return 'slight' + d.capitalize()
+      elif 'sharp' in direction and d in MODIFIABLE_DIRECTIONS:
+        return 'sharp' + d.capitalize()
      return d
  return 'none'

@@ -0,0 +1,42 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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 cereal.messaging as messaging
+from cereal import car, log
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+
+class NavigationDesires:
+  def __init__(self):
+    self.sm = messaging.SubMaster(['navigationd'])
+    self.desire = log.Desire.none
+    self._turn_speed_limit = 20 * CV.MPH_TO_MS
+    self._params = Params()
+    self.param_counter = -1
+    self.nav_allowed: bool = False
+
+  def update_params(self):
+    self.param_counter += 1
+    if self.param_counter % 60 == 0:  # every 3 seconds at 20hz
+      self.nav_allowed = self._params.get("NavDesiresAllowed", return_default=True)
+
+  def update(self, CS: car.CarState, lateral_active: bool) -> log.Desire:
+    self.update_params()
+    self.sm.update(0)
+    nav_msg = self.sm['navigationd']
+    self.desire = log.Desire.none
+    if self.nav_allowed and nav_msg.valid and lateral_active:
+      upcoming = nav_msg.upcomingTurn
+      if upcoming == 'slightLeft' and not CS.rightBlinker and not CS.leftBlindspot and CS.steeringPressed and CS.steeringTorque > 0:
+        self.desire = log.Desire.keepLeft
+      elif upcoming == 'slightRight' and not CS.leftBlinker and not CS.rightBlindspot and CS.steeringPressed and CS.steeringTorque < 0:
+        self.desire = log.Desire.keepRight
+      elif upcoming == 'left' and not CS.rightBlinker and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit:
+        self.desire = log.Desire.turnLeft
+      elif upcoming == 'right' and not CS.leftBlinker and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit:
+        self.desire = log.Desire.turnRight
+    return self.desire
@@ -0,0 +1,96 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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
+import types
+
+from cereal import log
+from openpilot.common.params import Params
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires
+
+
+def make_car(vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False, steeringPressed=False, steeringTorque=0):
+  return types.SimpleNamespace(
+    vEgo=vEgo, leftBlinker=leftBlinker, rightBlinker=rightBlinker,
+    leftBlindspot=leftBlindspot, rightBlindspot=rightBlindspot,
+    steeringPressed=steeringPressed, steeringTorque=steeringTorque
+  )
+
+NAVIGATION_PARAMS: list[tuple] = [
+  ('slightLeft', make_car(steeringPressed=True, steeringTorque=1), log.Desire.keepLeft),
+  ('slightRight', make_car(steeringPressed=True, steeringTorque=-1), log.Desire.keepRight),
+  ('slightLeft', make_car(vEgo=9, leftBlindspot=True), log.Desire.none),
+  ('slightRight', make_car(vEgo=9, rightBlindspot=True), log.Desire.none),
+  ('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False), log.Desire.turnLeft),
+  ('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
+  ('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False), log.Desire.turnRight),
+  ('right', make_car(vEgo=6, rightBlinker=True, rightBlindspot=True), log.Desire.none),
+  ('left', make_car(vEgo=9, leftBlinker=True), log.Desire.none),
+]
+
+INTEGRATION_PARAMS: list[tuple] = [(carstate, upcoming, log.Desire.none, expected) for upcoming, carstate, expected in NAVIGATION_PARAMS] + [
+  (make_car(vEgo=6, leftBlinker=True, steeringPressed=True, steeringTorque=1), 'slightLeft', log.Desire.turnLeft, log.Desire.keepLeft),
+  (make_car(vEgo=5, rightBlinker=True, steeringPressed=True, steeringTorque=-1), 'slightRight', log.Desire.turnRight, log.Desire.keepRight),
+  (make_car(vEgo=9, leftBlinker=True), 'slightLeft', log.Desire.laneChangeLeft, log.Desire.laneChangeLeft),
+  (make_car(vEgo=9, rightBlinker=True), 'slightRight', log.Desire.laneChangeRight, log.Desire.laneChangeRight),
+  (make_car(vEgo=9), 'none', log.Desire.none, log.Desire.none),
+]
+
+def make_nav_msg(valid=False, upcoming='none'):
+  return types.SimpleNamespace(valid=valid, upcomingTurn=upcoming)
+
+def params_setter(allowed: bool):
+  params = Params()
+  params.put("NavDesiresAllowed", allowed)
+
+@pytest.fixture
+def mock_submaster(mocker):
+  mock_sm = mocker.patch('cereal.messaging.SubMaster')
+  mock_sm_instance = mocker.Mock()
+  mock_sm.return_value = mock_sm_instance
+  mock_sm_instance.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=False))
+  params_setter(True)
+  return mock_sm_instance
+
+@pytest.mark.parametrize("upcoming, carstate, expected", NAVIGATION_PARAMS)
+def test_navigation_desires_update(mock_submaster, mocker, upcoming, carstate, expected):
+  nav_desires = NavigationDesires()
+  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
+  nav_desires.update(carstate, True)
+  assert nav_desires.desire == expected
+
+@pytest.mark.parametrize("msg_valid,lateral_active", [(False, True), (True, False)])
+def test_invalid_or_inactive(mock_submaster, mocker, msg_valid, lateral_active):
+  nav_desires = NavigationDesires()
+  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=msg_valid, upcoming='slightLeft'))
+  nav_desires.update(make_car(), lateral_active)
+  assert nav_desires.desire == log.Desire.none
+
+def test_update(mock_submaster, mocker):
+  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming='left'))
+  nav_desires = NavigationDesires()
+
+  assert nav_desires.update(make_car(leftBlinker=True, steeringPressed=True, steeringTorque=1), True) == log.Desire.turnLeft
+
+  params_setter(False)
+  nav_desires.param_counter = 59
+  nav_desires.update(make_car(leftBlinker=True), True)
+  assert nav_desires.desire == log.Desire.none
+
+@pytest.mark.parametrize("carstate, upcoming, current_desire, expected", INTEGRATION_PARAMS)
+def test_desire_helper(mock_submaster, mocker, carstate, upcoming, current_desire, expected):
+  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
+  dh = DesireHelper()
+  dh.desire = current_desire
+
+  if current_desire in (log.Desire.laneChangeLeft, log.Desire.laneChangeRight):
+    dh.lane_change_state = log.LaneChangeState.laneChangeStarting
+    dh.lane_change_direction = log.LaneChangeDirection.left if current_desire == log.Desire.laneChangeLeft else log.LaneChangeDirection.right
+
+  dh.update(carstate, True, 1.0)
+  assert dh.desire == expected
@@ -0,0 +1,113 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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 requests
+from urllib.parse import quote
+
+from openpilot.common.params import Params
+
+
+class MapboxIntegration:
+  def __init__(self):
+    self.params = Params()
+
+  def get_public_token(self) -> str:
+    token: str = self.params.get('MapboxToken', return_default=True)
+    return token
+
+  def set_destination(self, postvars, current_lon, current_lat, bearing=None) -> tuple[dict, bool]:
+    if 'latitude' in postvars and 'longitude' in postvars:
+      self.nav_confirmed(postvars, current_lon, current_lat, bearing)
+      return postvars, True
+
+    addr = postvars['place_name']
+    if not addr:
+      return postvars, False
+
+    token = self.get_public_token()
+    url = f'https://api.mapbox.com/geocoding/v5/mapbox.places/{quote(addr)}.json?access_token={token}&limit=1&proximity={current_lon},{current_lat}'
+    try:
+      response = requests.get(url, timeout=5)
+      if response.status_code == 200:
+        features = response.json()['features']
+        if features:
+          longitude, latitude = features[0]['geometry']['coordinates']
+          postvars.update({'latitude': latitude, 'longitude': longitude, 'name': addr})
+          self.nav_confirmed(postvars, current_lon, current_lat, bearing)
+          return postvars, True
+    except requests.RequestException:
+      pass  # Broad exception to handle network errors like no internet without crashing navd process.
+    return postvars, False
+
+  def nav_confirmed(self, postvars, start_lon, start_lat, bearing=None) -> None:
+    if not postvars:
+      return
+
+    latitude = float(postvars['latitude'])
+    longitude = float(postvars['longitude'])
+
+    data: dict = {'navData': {'current': {'latitude': latitude, 'longitude': longitude}, 'route': {}}}
+
+    token = self.get_public_token()
+    route_data = self.generate_route(start_lon, start_lat, longitude, latitude, token, bearing)
+    if route_data:
+      data['navData']['route'] = route_data
+    self.params.put('MapboxSettings', data)
+
+  @staticmethod
+  def generate_route(start_lon, start_lat, end_lon, end_lat, token, bearing=None) -> dict | None:
+    if not token:
+      return None
+
+    params = {
+      'access_token': token,
+      'geometries': 'geojson',
+      'steps': 'true',
+      'overview': 'full',
+      'annotations': 'maxspeed',
+      'alternatives': 'false',
+      'banner_instructions': 'true',
+    }
+    if bearing is not None:
+      params['bearings'] = f'{int((bearing + 360) % 360):.0f},90;'
+
+    try:
+      response = requests.get(f'https://api.mapbox.com/directions/v5/mapbox/driving/{start_lon},{start_lat};{end_lon},{end_lat}', params=params, timeout=5)
+      data = response.json() if response.status_code == 200 else {}
+    except requests.RequestException:
+      return None
+
+    routes = data['routes'] if data else None
+    legs = routes[0]['legs'] if routes else None
+
+    if data.get('code') != 'Ok' or not routes or not legs:
+      return None
+
+    route = routes[0]
+    leg = legs[0]
+
+    steps = [
+      {
+        'maneuver': step['maneuver']['type'],
+        'instruction': step['maneuver']['instruction'],
+        'distance': step['distance'],
+        'duration': step['duration'],
+        'location': {'longitude': step['maneuver']['location'][0], 'latitude': step['maneuver']['location'][1]},
+        'modifier': step['maneuver'].get('modifier', 'none'),
+        'bannerInstructions': step['bannerInstructions'],
+      }
+      for step in leg['steps']
+    ]
+
+    maxspeed = [{'speed': item['speed'], 'unit': item['unit']} for item in leg['annotation']['maxspeed'] if 'speed' in item]
+
+    return {
+      'steps': steps,
+      'totalDistance': route['distance'],
+      'totalDuration': route['duration'],
+      'geometry': [{'longitude': coord[0], 'latitude': coord[1]} for coord in route['geometry']['coordinates']],
+      'maxspeed': maxspeed,
+    }
@@ -0,0 +1,153 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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 numpy import interp
+
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.navd.helpers import Coordinate, bearing_between_two_points, string_to_direction, distance_along_geometry
+
+
+class NavigationInstructions:
+  def __init__(self):
+    self.coord = Coordinate(0, 0)
+    self.params = Params()
+
+    self._cached_route = None
+    self._route_loaded = False
+    self._no_route = False
+
+    self.closest_idx: float = 0
+    self.min_distance: float = 0
+
+  def get_route_progress(self, current_lat, current_lon) -> dict | None:
+    route = self.get_current_route()
+    if not route or not route['geometry'] or not route['steps']:
+      return None
+
+    self.coord.latitude = current_lat
+    self.coord.longitude = current_lon
+
+    # Find the closest point on the route relative to self
+    self.closest_idx, self.min_distance = min(((idx, self.coord.distance_to(coord)) for idx, coord in enumerate(route['geometry'])), key=lambda x: x[1])
+    closest_cumulative = distance_along_geometry(route['geometry'], self.coord)
+
+    # Find the current step index, which is the HIGHEST idx where the step location cumulative less/equal closest cumulative
+    current_step_idx = max((idx for idx, step in enumerate(route['steps']) if step['cumulative_distance'] <= closest_cumulative), default=-1)
+    current_step = route['steps'][current_step_idx if current_step_idx >= 0 else 0]
+
+    # The next turn is the next step relative to our cumulative index
+    next_turn_idx = current_step_idx + 1
+    next_turn = route['steps'][next_turn_idx] if 0 <= next_turn_idx < len(route['steps']) else None
+
+    current_maxspeed = current_step['maxspeed']
+
+    distance_to_end_of_step = max(0, current_step['distance'] - (closest_cumulative - current_step['cumulative_distance']))
+
+    all_maneuvers: list = []
+    max_maneuvers = 3
+    for idx in range(current_step_idx, min(current_step_idx + max_maneuvers, len(route['steps']))):
+      step = route['steps'][idx]
+      if idx == current_step_idx:
+        distance = distance_to_end_of_step
+      else:
+        distance = step['cumulative_distance'] - closest_cumulative
+      all_maneuvers.append({'distance': distance, 'type': step['maneuver'], 'modifier': step['modifier'], 'instruction': step['instruction']})
+
+    return {
+      'distance_from_route': self.min_distance,
+      'current_step': current_step,
+      'next_turn': next_turn,
+      'current_maxspeed': current_maxspeed,
+      'all_maneuvers': all_maneuvers,
+      'current_step_idx': current_step_idx,
+      'distance_to_end_of_step': distance_to_end_of_step,
+    }
+
+  def get_current_route(self):
+    if self._route_loaded and self._cached_route is not None:
+      return self._cached_route
+    if self._no_route:
+      return None
+
+    param_value = self.params.get('MapboxSettings')
+    route = param_value['navData']['route'] if param_value else None
+    if not route:
+      self._no_route = True
+      return None
+
+    geometry = [Coordinate(coord['latitude'], coord['longitude']) for coord in route['geometry']]
+    cumulative_distances = [0.0]
+    cumulative_distances.extend(cumulative_distances[-1] + geometry[step - 1].distance_to(geometry[step]) for step in range(1, len(geometry)))
+    maxspeed = [(speed['speed'], speed['unit']) for speed in route['maxspeed']]
+    steps = []
+    for step in route['steps']:
+      location = Coordinate(step['location']['latitude'], step['location']['longitude'])
+      closest_idx = min(range(len(geometry)), key=lambda i: location.distance_to(geometry[i]))
+      steps.append({
+        'bannerInstructions': step['bannerInstructions'],
+        'distance': step['distance'],
+        'duration': step['duration'],
+        'maneuver': step['maneuver'],
+        'location': location,
+        'cumulative_distance': cumulative_distances[closest_idx],
+        'maxspeed': maxspeed[min(closest_idx, len(maxspeed) - 1)] if len(maxspeed) > 0 else (0, 'kmh'),
+        'modifier': string_to_direction(step['modifier']),
+        'instruction': step['instruction'],
+      })
+    self._cached_route = {
+      'bearings': [bearing_between_two_points(geometry[i], geometry[i+2]) for i in range(len(geometry)-2)],
+      'steps': steps,
+      'total_distance': route['totalDistance'],
+      'total_duration': route['totalDuration'],
+      'geometry': geometry,
+      'cumulative_distances': cumulative_distances,
+      'maxspeed': maxspeed,
+    }
+    self._route_loaded = True
+    return self._cached_route
+
+  def clear_route_cache(self):
+    self._cached_route = None
+    self._route_loaded = False
+    self._no_route = False
+
+  def route_bearing_misalign(self, route, bearing, v_ego) -> bool:
+    route_bearing_misalign:bool = False
+
+    if v_ego < 5.0:
+      route_bearing_misalign = False
+    elif self.closest_idx > 0 and self.closest_idx < len(route['geometry']) -1:
+      route_bearing = route['bearings'][self.closest_idx -1]
+      current_bearing_normalized = (bearing + 360) % 360
+      bearing_difference = abs(current_bearing_normalized - route_bearing)
+
+      if min(bearing_difference, 360 - bearing_difference) > 110:
+        route_bearing_misalign = True  # flag for recompute/cancellation
+    return route_bearing_misalign
+
+  def get_upcoming_turn_from_progress(self, progress, current_lat, current_lon, v_ego: float) -> str:
+    if progress and progress['next_turn']:
+      speed_breakpoints: list = [0, 5, 10, 15, 20, 25, 30, 35, 40]
+      distance_breakpoints: list = [20, 25, 30, 45, 60, 75, 90, 105, 120]
+      distance_interp = interp(v_ego, speed_breakpoints, distance_breakpoints)
+
+      self.coord.latitude = current_lat
+      self.coord.longitude = current_lon
+      distance = self.coord.distance_to(progress['next_turn']['location'])
+
+      if distance <= distance_interp:
+        modifier = progress['next_turn']['modifier']
+        return str(modifier)
+    return 'none'
+
+  @staticmethod
+  def arrived_at_destination(progress, v_ego) -> bool:
+    if v_ego < 1.0:
+      maneuvers = progress['all_maneuvers'][0]
+      if maneuvers['type'] == 'arrive' or maneuvers['instruction'].startswith('Your destination'):
+        return True
+    return False
@@ -0,0 +1,98 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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 os
+
+from openpilot.common.constants import CV
+
+from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
+from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
+
+
+class TestMapbox:
+  @classmethod
+  def setup_class(cls):
+    cls.mapbox = MapboxIntegration()
+    cls.nav = NavigationInstructions()
+
+    token = os.environ.get('MAPBOX_TOKEN_CI')
+    if token:
+      cls.mapbox.params.put('MapboxToken', token)
+
+    # route setup
+    cls.current_lon, cls.current_lat = -119.17557, 34.23305
+    cls.mapbox.params.put('MapboxRoute', '740 E Ventura Blvd. Camarillo, CA')
+    cls.postvars = {"place_name": cls.mapbox.params.get('MapboxRoute')}
+    cls.postvars, cls.valid_addr = cls.mapbox.set_destination(cls.postvars, cls.current_lon, cls.current_lat)
+    cls.route = cls.nav.get_current_route()
+    cls.progress = cls.nav.get_route_progress(cls.current_lat, cls.current_lon)
+
+  def test_set_destination(self):
+    assert self.valid_addr
+    settings = self.mapbox.params.get('MapboxSettings')
+    assert settings is not None
+    dest_lat = settings['navData']['current']['latitude']
+    dest_lon = settings['navData']['current']['longitude']
+    assert dest_lat == self.postvars["latitude"] and dest_lon == self.postvars["longitude"]
+
+  def test_get_route(self):
+    assert self.route is not None
+    assert 'steps' in self.route
+    assert 'geometry' in self.route
+    assert 'maxspeed' in self.route
+    assert 'total_distance' in self.route
+    assert 'total_duration' in self.route
+    assert len(self.route['steps']) > 0
+    assert len(self.route['geometry']) > 0
+    assert len(self.route['maxspeed']) > 0
+
+    if self.route and 'steps' in self.route:
+      for step in self.route['steps']:
+        assert 'modifier' in step
+
+  def test_upcoming_turn_detection(self):
+    upcoming = self.nav.get_upcoming_turn_from_progress(self.progress, self.current_lat, self.current_lon, v_ego=40.0)
+    assert isinstance(upcoming, str)
+    assert upcoming == 'none'
+
+    if self.route['steps']:
+      turn_lat = self.route['steps'][1]['location'].latitude
+      turn_lon = self.route['steps'][1]['location'].longitude
+      close_lat = turn_lat - 0.000175  # slightly before the turn
+      if self.progress and self.progress.get('next_turn'):
+        expected_turn = self.progress['next_turn']['modifier']
+        upcoming_close = self.nav.get_upcoming_turn_from_progress(self.progress, close_lat, turn_lon, v_ego=0.0)
+        if expected_turn:
+          assert upcoming_close == expected_turn == 'right', "Should be a right turn upcoming"
+
+  def test_route_progress_tracking(self):
+    assert self.progress is not None
+    assert 'distance_from_route' in self.progress
+    assert 'next_turn' in self.progress
+    assert 'current_maxspeed' in self.progress
+    assert 'all_maneuvers' in self.progress
+    assert 'distance_to_end_of_step' in self.progress
+    assert self.progress['distance_from_route'] >= 0
+    assert isinstance(self.progress['all_maneuvers'], list)
+
+  def test_speed_limit_handling(self):
+    speed_limit_metric = self.progress['current_maxspeed'][0]
+    speed_limit_imperial = (round(speed_limit_metric * CV.KPH_TO_MPH))
+    assert isinstance(speed_limit_metric, int)
+    assert isinstance(speed_limit_imperial, int)
+
+  def test_arrival_detection(self):
+    is_arrived = self.nav.arrived_at_destination(self.progress, 2.0)
+    assert isinstance(is_arrived, bool)
+    assert not is_arrived
+
+  def test_bearing_misalign(self):
+    lat = self.route['steps'][1]['location'].latitude
+    lon = self.route['steps'][1]['location'].longitude
+    self.nav.get_route_progress(lat, lon)
+    route_bearing_misaligned = self.nav.route_bearing_misalign(self.route, 45, 5.0)
+    # based on math: closest index: 7, normalized bearing: 45 route bearing: 180.5486953778888, expected differential: 135.54869538
+    assert route_bearing_misaligned
@@ -0,0 +1,168 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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 math import degrees
+from numpy import interp
+
+import cereal.messaging as messaging
+from cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+
+from openpilot.sunnypilot.navd.constants import NAV_CV
+from openpilot.sunnypilot.navd.helpers import Coordinate, parse_banner_instructions
+from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
+from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
+
+
+class Navigationd:
+  def __init__(self):
+    self.params = Params()
+    self.mapbox = MapboxIntegration()
+    self.nav_instructions = NavigationInstructions()
+
+    self.sm = messaging.SubMaster(['carControlSP', 'liveLocationKalman'])
+    self.pm = messaging.PubMaster(['navigationd'])
+    self.rk = Ratekeeper(3) # 3 Hz
+
+    self.route = None
+    self.destination: str | None = None
+    self.new_destination: str = ''
+
+    self.allow_navigation: bool = False
+    self.recompute_allowed: bool = False
+    self.allow_recompute: bool = False
+    self.reroute_counter: int = 0
+    self.cancel_route_counter: int = 0
+
+    self.frame: int = -1
+    self.last_position: Coordinate | None = None
+    self.last_bearing: float | None = None
+    self.valid: bool = False
+
+  def _update_params(self):
+    if self.last_position is not None:
+      self.frame += 1
+      if self.frame % 15 == 0:
+        self.allow_navigation = self.params.get('AllowNavigation', return_default=True)
+        self.new_destination = self.params.get('MapboxRoute')
+        self.recompute_allowed = self.params.get('MapboxRecompute', return_default=True)
+
+      self.allow_recompute: bool = (self.new_destination != self.destination and self.new_destination != '') or (
+        self.recompute_allowed and self.reroute_counter > 9 and self.route)
+
+      if self.allow_recompute:
+        postvars = {'place_name': self.new_destination}
+        postvars, valid_addr = self.mapbox.set_destination(postvars, self.last_position.longitude, self.last_position.latitude, self.last_bearing)
+
+        if valid_addr:
+          self.destination = self.new_destination
+          self.nav_instructions.clear_route_cache()
+          self.route = self.nav_instructions.get_current_route()
+          self.cancel_route_counter = 0
+          self.reroute_counter = 0
+
+      if self.cancel_route_counter == 30:
+        self.cancel_route_counter = 0
+        self.params.put_nonblocking("MapboxRoute", "")
+        self.nav_instructions.clear_route_cache()
+        self.route = None
+
+      self.valid = self.route is not None
+
+  def _update_navigation(self) -> tuple[str, dict | None, dict]:
+    banner_instructions: str = ''
+    nav_data: dict = {}
+    if self.allow_navigation and self.route and self.last_position is not None:
+      if progress := self.nav_instructions.get_route_progress(self.last_position.latitude, self.last_position.longitude):
+        v_ego = float(max(self.sm['carControlSP'].speed, 0.0))
+        nav_data['upcoming_turn'] = self.nav_instructions.get_upcoming_turn_from_progress(progress, self.last_position.latitude,
+                                                                                          self.last_position.longitude, v_ego)
+        speed_limit, _ = progress['current_maxspeed']
+        nav_data['current_speed_limit'] = speed_limit
+        arrived = self.nav_instructions.arrived_at_destination(progress, v_ego)
+
+        if progress['current_step']:
+          parsed = parse_banner_instructions(progress['current_step']['bannerInstructions'], progress['distance_to_end_of_step'])
+          if parsed:
+            banner_instructions = parsed['maneuverPrimaryText']
+
+        nav_data['distance_from_route'] = progress['distance_from_route']
+        speed_breakpoints: list = [0.0, 5.0, 10.0, 20.0, 40.0]
+        distance_list: list = [100.0, 125.0, 150.0, 200.0, 250.0]
+        large_distance: bool = progress['distance_from_route'] > float(interp(v_ego, speed_breakpoints, distance_list))
+
+        route_bearing_misalign: bool = self.nav_instructions.route_bearing_misalign(self.route, self.last_bearing, v_ego)
+
+        if large_distance and not arrived:
+          self.cancel_route_counter = self.cancel_route_counter + 1 if progress['distance_from_route'] > NAV_CV.QUARTER_MILE else 0
+          if self.recompute_allowed:
+            self.reroute_counter += 1
+        elif arrived:
+          self.cancel_route_counter += 1
+          self.recompute_allowed = False
+        elif route_bearing_misalign:
+          self.cancel_route_counter += 1
+          if self.recompute_allowed:
+            self.reroute_counter += 1
+        else:
+          self.cancel_route_counter = 0
+          self.reroute_counter = 0
+
+        # Don't recompute in last segment to prevent reroute loops
+        if progress['current_step_idx'] == len(self.route['steps']) - 1:
+          self.recompute_allowed = False
+          self.allow_navigation = False
+    else:
+      banner_instructions = ''
+      progress = None
+      nav_data = {}
+
+    return banner_instructions, progress, nav_data
+
+  def _build_navigation_message(self, banner_instructions: str, progress: dict | None, nav_data: dict, valid: bool):
+    msg = messaging.new_message('navigationd')
+    msg.valid = valid
+    msg.navigationd.upcomingTurn = nav_data.get('upcoming_turn', 'none')
+    msg.navigationd.currentSpeedLimit = nav_data.get('current_speed_limit', 0)
+    msg.navigationd.bannerInstructions = banner_instructions
+    msg.navigationd.distanceFromRoute = nav_data.get('distance_from_route', 0.0)
+    msg.navigationd.valid = self.valid
+
+    all_maneuvers = (
+      [custom.Navigationd.Maneuver.new_message(distance=m['distance'], type=m['type'], modifier=m['modifier'],
+                                               instruction=m['instruction']) for m in progress['all_maneuvers']]
+      if progress
+      else []
+    )
+    msg.navigationd.allManeuvers = all_maneuvers
+    return msg
+
+  def run(self):
+    cloudlog.warning('navigationd init')
+
+    while True:
+      self.sm.update(0)
+      location = self.sm['liveLocationKalman']
+      localizer_valid = location.positionGeodetic.valid if location else False
+
+      if localizer_valid:
+        self.last_bearing = degrees(location.calibratedOrientationNED.value[2])
+        self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+
+      self._update_params()
+      banner_instructions, progress, nav_data = self._update_navigation()
+
+      msg = self._build_navigation_message(banner_instructions, progress, nav_data, valid=localizer_valid)
+
+      self.pm.send('navigationd', msg)
+      self.rk.keep_time()
+
+
+def main():
+  nav = Navigationd()
+  nav.run()
@@ -0,0 +1,67 @@
+"""
+Copyright (c) 2021-, James Vecellio, 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 platform
+import pytest
+
+import cereal.messaging as messaging
+
+from openpilot.sunnypilot.navd.navigationd import Navigationd
+from openpilot.sunnypilot.navd.helpers import Coordinate
+
+
+class TestNavigationd:
+  is_darwin = platform.system() == "Darwin"
+
+  @pytest.fixture(autouse=True)
+  def setup_method(self, mocker):
+    if self.is_darwin:
+      mocker.patch('cereal.messaging.SubMaster')
+      mocker.patch('cereal.messaging.PubMaster')
+
+  def test_update_params(self):
+    nav = Navigationd()
+    nav.last_position = None
+    nav._update_params()
+    assert nav.frame == -1
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav._update_params()
+    assert nav.frame == 0  # frame only updates when last position is set
+
+  def test_update_navigation_no_position(self):
+    nav = Navigationd()
+    nav.last_position = None
+    banner, progress, nav_data = nav._update_navigation()
+    assert banner == ''
+    assert progress is None
+    assert nav_data == {}
+
+  def test_update_navigation(self):
+    nav = Navigationd()
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav.route = {'580 Winchester dr, oxnard, CA': True}
+    banner, progress, nav_data = nav._update_navigation()
+    assert isinstance(banner, str)
+    assert not progress  # no route was actually set
+    assert isinstance(nav_data, dict)
+
+  def test_build_navigation_message(self):
+    if self.is_darwin:
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {}, True)
+      assert msg.navigationd.bannerInstructions == ''
+      assert msg.navigationd.valid is False
+    else:
+      sm = messaging.SubMaster(['navigationd'])
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {}, True)
+
+      nav.pm.send('navigationd', msg)
+      sm.update()
+      received_msg = sm['navigationd']
+
+      assert received_msg.bannerInstructions == msg.navigationd.bannerInstructions
+      assert received_msg.valid == msg.navigationd.valid
@@ -0,0 +1,3 @@
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--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
discountchubbs	793359d87d	exact distance :)	2025-11-16 10:53:57 -08:00
discountchubbs	e81722517e	favs	2025-11-13 19:33:32 -08:00
discountchubbs	837db1f257	clear route	2025-11-13 09:39:00 -08:00
discountchubbs	e27915bb3d	list comprehension cache the bearings on route	2025-11-13 07:06:27 -08:00
discountchubbs	bf84976129	some more	2025-11-12 19:48:10 -08:00
discountchubbs	d3db789e86	some more	2025-11-12 18:53:05 -08:00
discountchubbs	ae023d8303	:(	2025-11-11 09:28:18 -08:00
discountchubbs	6b102b4e63	but why tho	2025-11-11 08:43:15 -08:00
discountchubbs	71ac12f438	# Conflicts: # sunnypilot/navd/navigation_desires/navigation_desires.py # sunnypilot/navd/navigation_helpers/nav_instructions.py # sunnypilot/navd/navigation_helpers/tests/test_mapbox.py # sunnypilot/navd/navigationd.py	2025-11-11 08:21:14 -08:00
discountchubbs	035d5fba92	meh	2025-11-10 19:22:46 -08:00
discountchubbs	729c508a73	cmath floor >= 10.0 mi/km for more apple/google maps experience	2025-11-09 14:53:46 -08:00
discountchubbs	1796598b52	for now	2025-11-09 14:38:45 -08:00
discountchubbs	ec031ffeb6	n overlap and more code diff!	2025-11-07 17:59:23 -08:00
discountchubbs	9c5ee2e12a	start cleanup	2025-11-07 12:37:22 -08:00
discountchubbs	65386da6d4	yesssss	2025-11-07 09:34:52 -08:00
discountchubbs	00799154ef	merge origin/nav-desires into nav-commacon	2025-11-07 07:47:16 -08:00
discountchubbs	d6731c30da	play with moving stuff when not valid	2025-11-07 07:05:24 -08:00
discountchubbs	0b54b86476	rounding	2025-11-06 15:47:31 -08:00
discountchubbs	fd675d29a9	no more nav-events	2025-11-06 12:25:27 -08:00
discountchubbs	d58bbda789	merge origin/nav-events into nav-commacon	2025-11-05 19:28:38 -08:00
discountchubbs	50773a62ed	fine	2025-11-05 17:47:16 -08:00
discountchubbs	f5dbdc192e	YOUR DESTINATION IS ON THE RIGHT	2025-11-05 15:28:52 -08:00
discountchubbs	f9987b2d7d	quick don't look	2025-11-05 14:37:44 -08:00
discountchubbs	d51af1513b	add to navigationd-service , but add here first because yessss	2025-11-05 14:30:02 -08:00
discountchubbs	2807c949a9	nayan!	2025-11-05 09:58:18 -08:00
nayan	0268d4384d	Move Elements	2025-11-05 11:27:49 -05:00
nayan	0e60a56e56	Update idx to allow next maneuver	2025-11-05 11:02:21 -05:00
nayan	c5445d2a8b	Make it bigger. BIGGER!	2025-11-05 11:02:21 -05:00
discountchubbs	6df1edbbaf	offroad panel stuffs	2025-11-05 06:57:21 -08:00
discountchubbs	a098a0805a	fix index access	2025-11-05 06:08:31 -08:00
nayan	469f1e01ef	LOL, keep these	2025-11-04 16:28:23 -05:00
nayan	0fc5414f7c	NAV DIRECTIONS UI	2025-11-04 16:22:37 -05:00
James Vecellio	d798288b2c	more	2025-11-03 06:54:03 -08:00
James Vecellio	0e02fc2449	commacon stuff	2025-11-02 18:53:53 -08:00
James Vecellio-Grant	7d15afe5bc	Merge branch 'nav-desires' into nav-events	2025-11-01 08:02:31 -07:00
James Vecellio-Grant	b6dd2d14db	Merge branch 'navigationd-service' into nav-desires	2025-11-01 08:02:18 -07:00
James Vecellio-Grant	7d4e5bedaf	Merge branch 'navigationd-init' into navigationd-service	2025-11-01 08:02:08 -07:00
James Vecellio-Grant	1063114408	Merge branch 'master' into navigationd-init	2025-11-01 08:01:57 -07:00
discountchubbs	958b4df69f	give slightly more leniancy for offline routing	2025-11-01 08:01:30 -07:00
discountchubbs	f5953c5d8c	Quarter mile is what apple maps uses	2025-11-01 07:57:55 -07:00
discountchubbs	72998034e6	copyright	2025-10-30 06:26:01 -07:00
discountchubbs	cefb344183	copyright	2025-10-30 06:22:34 -07:00
discountchubbs	c0da31abb6	mild clean	2025-10-30 06:18:47 -07:00
discountchubbs	bd759a56cf	ehh no, 50 ft increments is better	2025-10-29 20:05:16 -07:00
discountchubbs	befc73c53e	more	2025-10-29 20:03:19 -07:00
discountchubbs	8dbfc267ac	Merge remote-tracking branch 'origin/nav-desires' into nav-events	2025-10-29 19:41:51 -07:00
discountchubbs	d17e80ad94	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-29 19:41:29 -07:00
discountchubbs	c2b7087723	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-29 19:40:19 -07:00
James Vecellio-Grant	81b37712f1	Merge branch 'master' into navigationd-init	2025-10-29 19:39:41 -07:00
discountchubbs	68270a13a3	Merge remote-tracking branch 'origin/nav-desires' into nav-events	2025-10-29 19:38:20 -07:00
discountchubbs	18cd3633e5	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-29 19:37:41 -07:00
discountchubbs	9c6a4d4a57	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-29 19:37:10 -07:00
discountchubbs	1a4c48249b	fix: handle empty maxspeed list in nav_instructions	2025-10-29 19:36:39 -07:00
James Vecellio-Grant	95d887a417	Update event_builder.py	2025-10-29 18:11:22 -07:00
James Vecellio-Grant	e297b4c03f	Update event_builder.py	2025-10-29 18:06:28 -07:00
discountchubbs	1132377837	refactor event_builder into class with staticmethod for events.py call	2025-10-29 15:42:23 -07:00
discountchubbs	35f03ae001	Well im conflicted	2025-10-28 11:52:32 -07:00
discountchubbs	1c0b54a447	more	2025-10-28 06:55:28 -07:00
discountchubbs	8f0cdd514e	weird	2025-10-28 06:54:50 -07:00
discountchubbs	3681caa717	Add nudge notif to event builder	2025-10-28 06:46:39 -07:00
discountchubbs	7446c43f69	Merge remote-tracking branch 'origin/nav-desires' into nav-events	2025-10-28 06:44:01 -07:00
discountchubbs	5f5e3668eb	Add steering pressed and torque to desire for non blindspot cars, and a note!	2025-10-28 06:43:00 -07:00
discountchubbs	8c07958f6f	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-28 06:28:33 -07:00
discountchubbs	ca1ce9bcc9	Clear route cache more gracefully to allow we based route connection to happen quick ish	2025-10-28 06:27:51 -07:00
discountchubbs	34a0819bc5	Read the description: It's ideal that we should always use the next instruction ahead instead of our current instruction that we are driving on. Sure, current instruction is great for grepping maxspeed tags, but for upcoming instructions we want to use index 1. I updated the test to reflect the two indexes.	2025-10-28 06:23:40 -07:00
James Vecellio-Grant	c68ea82a5d	hahaha it’ll fail the test but that’s a later problem	2025-10-27 19:27:37 -07:00
discountchubbs	3157054100	a bit more readible	2025-10-26 13:02:09 -07:00
discountchubbs	2486ef1825	Merge remote-tracking branch 'origin/nav-desires' into nav-events	2025-10-26 11:07:49 -07:00
discountchubbs	29f15dc8ed	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-26 11:07:16 -07:00
discountchubbs	31a5a3b3c0	assertion comparison operators	2025-10-26 11:06:00 -07:00
discountchubbs	d8fa3cfd04	Merge remote-tracking branch 'origin/nav-desires' into nav-events	2025-10-26 08:45:24 -07:00
discountchubbs	2a4b348497	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-26 08:44:38 -07:00
discountchubbs	3ef3aceb4b	Apply auto cancel route after 10 seconds off route.	2025-10-26 08:44:03 -07:00
James Vecellio-Grant	3d8763b3ce	Merge branch 'master' into navigationd-init	2025-10-25 21:14:39 -07:00
James Vecellio-Grant	b2427a5f20	Merge branch 'master' into navigationd-init	2025-10-25 16:27:44 -07:00
discountchubbs	7ddafe62cd	Merge remote-tracking branch 'origin/nav-desires' into nav-events	2025-10-23 19:21:25 -07:00
discountchubbs	ff4cc96a81	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-23 19:21:04 -07:00
discountchubbs	3b1ada64be	sync	2025-10-23 19:20:15 -07:00
discountchubbs	6a08186434	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-23 19:17:49 -07:00
discountchubbs	cf2b033c79	clean	2025-10-23 19:15:54 -07:00
discountchubbs	9fbef36c6b	desire handling	2025-10-23 19:12:34 -07:00
discountchubbs	f5a38aa613	Add instruction field to maneuvers and update banner message logic	2025-10-23 19:08:52 -07:00
discountchubbs	25f5058430	Merge remote-tracking branch 'origin/nav-desires' into nav-events # Conflicts: # sunnypilot/navd/navigation_helpers/nav_instructions.py # sunnypilot/navd/navigationd.py	2025-10-23 17:26:23 -07:00
discountchubbs	7b28c2f59a	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-23 17:24:16 -07:00
discountchubbs	99d954de10	sync	2025-10-23 17:23:47 -07:00
discountchubbs	b28f33481c	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-23 17:21:56 -07:00
discountchubbs	589e33f665	sum red diff	2025-10-23 17:20:23 -07:00
discountchubbs	39342d7b5e	diff is red so == good?	2025-10-23 17:16:29 -07:00
discountchubbs	fe70650f73	100 meters	2025-10-23 16:56:58 -07:00
discountchubbs	e3f9fe892a	more	2025-10-23 12:21:04 -07:00
discountchubbs	f4373fa244	Revert "dead" This reverts commit `2376802589`.	2025-10-23 12:20:52 -07:00
James Vecellio	2376802589	dead	2025-10-23 09:44:28 -07:00
James Vecellio	c3b51d7335	long maneuvers fix	2025-10-23 09:35:43 -07:00
discountchubbs	d3d8802402	no mid, yet	2025-10-22 19:34:24 -07:00
discountchubbs	d866500c92	daughter wants to take a bath	2025-10-22 19:27:59 -07:00
discountchubbs	23879836d9	return validity	2025-10-22 14:26:15 -07:00
discountchubbs	06add21971	sm shenanigans	2025-10-22 13:47:03 -07:00
discountchubbs	66fd3d1a01	smh	2025-10-22 09:51:33 -07:00
James Vecellio-Grant	71f7754f51	Didn’t like it	2025-10-22 07:45:44 -07:00
James Vecellio-Grant	b5591cbd62	Update plannerd.py	2025-10-22 07:36:56 -07:00
discountchubbs	7430c450c2	longitudinal maneuvers no subscribey	2025-10-22 06:15:52 -07:00
discountchubbs	e54a39cf43	publish dem events 👀	2025-10-21 21:13:33 -07:00
discountchubbs	3afe0bcdb3	Merge remote-tracking branch 'origin/nav-desires' into nav-events	2025-10-21 16:27:46 -07:00
discountchubbs	b763f7aac1	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-21 16:27:02 -07:00
discountchubbs	450fcd4d55	oopsie part two lol	2025-10-21 16:25:30 -07:00
James Vecellio	551b4dea31	oopsie	2025-10-21 16:20:20 -07:00
James Vecellio	bd269defb3	oopsie	2025-10-21 16:19:49 -07:00
James Vecellio	8998f63a28	oopsie	2025-10-21 16:18:27 -07:00
James Vecellio-Grant	399ed08926	Merge branch 'master' into navigationd-init	2025-10-21 15:29:45 -07:00
James Vecellio-Grant	90f02040fe	Merge branch 'master' into navigationd-service	2025-10-21 15:29:42 -07:00
James Vecellio-Grant	8423ecedb1	Merge branch 'master' into nav-desires	2025-10-21 15:29:39 -07:00
James Vecellio-Grant	34d1514e11	Merge branch 'master' into nav-events	2025-10-21 15:29:35 -07:00
discountchubbs	c50d511616	Merge remote-tracking branch 'origin/nav-desires' into nav-events	2025-10-21 15:27:41 -07:00
discountchubbs	dd1479ed82	More macOS crap 🤠	2025-10-21 15:25:15 -07:00
discountchubbs	87ec262e39	Merge remote-tracking branch 'origin/nav-desires' into nav-events	2025-10-21 12:06:07 -07:00
discountchubbs	f82845ff42	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-21 12:05:13 -07:00
discountchubbs	efcc5ccd15	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-21 12:03:44 -07:00
James Vecellio-Grant	6aac50ab56	Merge branch 'master' into navigationd-init	2025-10-21 12:03:05 -07:00
discountchubbs	da0920cb60	feat: navigationd onroad events	2025-10-21 11:59:13 -07:00
discountchubbs	091bce4a3a	Merge remote-tracking branch 'origin/navigationd-service' into nav-desires	2025-10-21 05:54:42 -07:00
discountchubbs	088f6aa407	sync	2025-10-21 05:53:12 -07:00
James Vecellio-Grant	211c8adcce	Merge branch 'master' into navigationd-init	2025-10-21 05:52:06 -07:00
discountchubbs	fe5366e5b2	rm unused import	2025-10-19 20:34:11 -07:00
discountchubbs	1ecb0b0f66	dumb	2025-10-19 20:16:36 -07:00
discountchubbs	51e455db79	stupid msgq always breaking macOS	2025-10-19 20:15:14 -07:00
discountchubbs	dc6672fa80	Merge remote-tracking branch 'origin/navigationd-init' into navigationd-service	2025-10-19 20:02:36 -07:00
discountchubbs	07b8e7783d	Do i really need a readme	2025-10-19 19:47:21 -07:00
discountchubbs	f17b0f200c	non blocking polling SOME attribute protection. kids crying, so need to stop for now!	2025-10-19 17:20:13 -07:00
discountchubbs	ad9bde8b1f	non blocking polling SOME attribute protection. kids crying, so need to stop for now!	2025-10-19 17:17:37 -07:00
discountchubbs	8cf9f9fe23	params! maybe these should be protected attributes, but thats a tomorrow problem	2025-10-19 17:03:04 -07:00
discountchubbs	713985d823	feat: navigationd desire loop Notes: Maybe I should add a param for this, so its not automatic when a route is set.	2025-10-19 09:38:29 -07:00
James Vecellio-Grant	088f9d0b59	Merge branch 'master' into navigationd-service	2025-10-18 18:22:34 -07:00
James Vecellio-Grant	53bf5b0d41	Merge branch 'master' into navigationd-init	2025-10-18 18:22:27 -07:00
discountchubbs	8c33592628	Revert "feat: navigationd" bc it was supposed to be a branch lol This reverts commit `3bbb33f6bd`.	2025-10-18 18:18:28 -07:00
James Vecellio	3bbb33f6bd	feat: navigationd I changed the reroute counter to 9 updates, which is every 3 seconds. compared to 3, which is one second.	2025-10-18 18:15:22 -07:00
discountchubbs	5bd9549bd1	some clean up for production	2025-10-16 15:43:34 -07:00
discountchubbs	3481702715	some suggestions applied	2025-10-16 06:55:15 -07:00
discountchubbs	c9781ee31d	feat: mapbox navigation helpers	2025-10-16 06:43:48 -07:00