chore: update CHANGELOG for 2026.001.007

Revert "DM: Lancia Delta HF Integrale model (#37696)"

This reverts commit d8569b07eb.

CHANGELOG.md

@@ -1,3 +1,18 @@
+sunnypilot Version 2026.001.007 (2026-05-27)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin
+
+sunnypilot Version 2026.001.006 (2026-05-17)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin
+
+sunnypilot Version 2026.001.005 (2026-05-13)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin
+
 sunnypilot Version 2026.001.004 (2026-05-10)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
@@ -7,7 +22,7 @@ sunnypilot Version 2026.001.004 (2026-05-10)
 sunnypilot Version 2026.001.003 (2026-05-08)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
-  * manager: disable DEVELOPMENT_ONLY reset by @jason-wen
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin
 
 sunnypilot Version 2026.001.002 (2026-05-07)
 ========================

cereal/log.capnp

@@ -2054,16 +2054,14 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    eyesVisibleProb @14 :Float32;
-    eyesClosedProb @15 :Float32;
+    leftEyeProb @5 :Float32;
+    rightEyeProb @6 :Float32;
+    leftBlinkProb @7 :Float32;
+    rightBlinkProb @8 :Float32;
+    sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
 
     deprecated :group {
-      leftEyeProb @5 :Float32;
-      rightEyeProb @6 :Float32;
-      leftBlinkProb @7 :Float32;
-      rightBlinkProb @8 :Float32;
-      sunglassesProb @9 :Float32;
       notReadyProb @12 :List(Float32);
       occludedProb @10 :Float32;
       readyProb @11 :List(Float32);

selfdrive/assets/icons_mici/onroad/glasses.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56de402482b5987ed9a0ff3f793a1c89f857304b34fbb8a3deb5b5d4a332be1c
+size 3688

selfdrive/modeld/dmonitoringmodeld.py

@@ -83,7 +83,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -93,8 +93,11 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
   msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
   msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
-  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
+  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):

selfdrive/modeld/models/dmonitoring_model.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
-size 7364290
+oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
+size 7307246

selfdrive/monitoring/helpers.py

@@ -32,8 +32,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
     self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.5
-    self._BLINK_THRESHOLD = 0.5
+    self._EYE_THRESHOLD = 0.65
+    self._SG_THRESHOLD = 0.9
+    self._BLINK_THRESHOLD = 0.865
     self._PHONE_THRESH = 0.5
 
     self._POSE_PITCH_THRESHOLD = 0.3133
@@ -110,6 +111,11 @@ class DriverProb:
     self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
     self.prob_calibrated = False
 
+class DriverBlink:
+  def __init__(self):
+    self.left = 0.
+    self.right = 0.
+
 
 # model output refers to center of undistorted+leveled image
 EFL = 598.0 # focal length in K
@@ -144,7 +150,7 @@ class DriverMonitoring:
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
     self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
-    self.blink_prob = 0.
+    self.blink = DriverBlink()
     self.phone_prob = 0.
 
     self.always_on = always_on
@@ -247,7 +253,7 @@ class DriverMonitoring:
     if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
-    if self.blink_prob > self.settings._BLINK_THRESHOLD:
+    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.phone_prob > self.settings._PHONE_THRESH:
@@ -288,7 +294,10 @@ class DriverMonitoring:
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
+    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
     self.distracted_types = self._get_distracted_types()

selfdrive/monitoring/test_monitoring.py

@@ -20,8 +20,10 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.faceOrientation = [0., 0., 0.]
   ds.leftDriverData.facePosition = [0., 0.]
   ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.eyesVisibleProb = 1.
-  ds.leftDriverData.eyesClosedProb = 1. * distracted
+  ds.leftDriverData.leftEyeProb = 1.
+  ds.leftDriverData.rightEyeProb = 1.
+  ds.leftDriverData.leftBlinkProb = 1. * distracted
+  ds.leftDriverData.rightBlinkProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used

selfdrive/test/process_replay/model_replay.py

@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
-                     (lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -39,6 +39,8 @@ class BaseDriverCameraDialog(Widget):
     self._eye_fill_texture = None
     self._eye_orange_texture = None
     self._eye_size = 74
+    self._glasses_texture = None
+    self._glasses_size = 171
 
     self._load_eye_textures()
 
@@ -152,6 +154,8 @@ class BaseDriverCameraDialog(Widget):
       self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
     if self._eye_orange_texture is None:
       self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
+    if self._glasses_texture is None:
+      self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
@@ -198,21 +202,31 @@ class BaseDriverCameraDialog(Widget):
     eye_offset_x = 10
     eye_offset_y = 10
     eye_spacing = self._eye_size + 15
-    eyes_prob = driver_data.eyesVisibleProb
 
     left_eye_x = rect.x + eye_offset_x
     left_eye_y = rect.y + eye_offset_y
+    left_eye_prob = driver_data.leftEyeProb
 
     right_eye_x = rect.x + eye_offset_x + eye_spacing
     right_eye_y = rect.y + eye_offset_y
+    right_eye_prob = driver_data.rightEyeProb
 
     # Draw eyes with opacity based on probability
-    fill_opacity = eyes_prob
-    orange_opacity = 1.0 - eyes_prob
-    for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
+    for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
+      fill_opacity = eye_prob
+      orange_opacity = 1.0 - eye_prob
+
       rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
       rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
 
+    # Draw sunglasses indicator based on sunglasses probability
+    # Position glasses centered between the two eyes at top left
+    glasses_x = rect.x + eye_offset_x - 4
+    glasses_y = rect.y
+    glasses_pos = rl.Vector2(glasses_x, glasses_y)
+    glasses_prob = driver_data.sunglassesProb
+    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
+
 
 class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
   def __init__(self):

sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.001.004"
+#define SUNNYPILOT_VERSION "2026.001.007"

sunnypilot/sunnylink/capabilities.py

@@ -78,6 +78,38 @@ def _bundle_field(bundle: dict | None, key: str) -> str:
   return bundle.get(key, "") if isinstance(bundle, dict) else ""
 
 
+def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
+  """Set brand-specific capabilities from bundle platform or CarParams fallback.
+
+  Bundle (manual car selection) is a pre-fingerprint approximation.
+  CarParams (auto-fingerprint) is the authoritative post-fingerprint source.
+  Mirrors the per-brand update_settings() logic in device UI layouts.
+  """
+  brand = caps["brand"]
+
+  if brand == "hyundai":
+    if bundle_platform:
+      try:
+        unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
+        caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["hyundai_alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
+
+  elif brand == "subaru":
+    if bundle_platform:
+      try:
+        flags = SUBARU_CAR[bundle_platform].config.flags
+        caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+        caps["has_stop_and_go"] = caps["subaru_has_sng"]
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["subaru_has_sng"] = not bool(CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+      caps["has_stop_and_go"] = caps["subaru_has_sng"]
+
+
 def generate_capabilities(params: Params | None = None) -> dict:
   """Generate a SettingsCapabilities dict from CarParams + boolean params.
 
@@ -108,6 +140,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
     caps["brand"] = bundle_brand
 
   # CarParams-derived capabilities
+  CP = None
   CP_bytes = params.get("CarParamsPersistent")
   if CP_bytes is not None:
     try:
@@ -129,6 +162,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
       # Generic SnG fallback. Brand-specific opaque flags below override.
       caps["has_stop_and_go"] = bool(CP.openpilotLongitudinalControl)
     except Exception:
+      CP = None
       cloudlog.exception("capabilities: failed to deserialize CarParamsPersistent")
 
   # CarParamsSP-derived capabilities
@@ -142,23 +176,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
     except Exception:
       cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
 
-  # Brand-specific opaque flags. Mirror Raylib brand-settings logic so the
-  # device and the dashboard agree on per-platform availability without
-  # leaking the platform identifier over the wire.
-  if caps["brand"] == "subaru" and bundle_platform:
-    try:
-      flags = SUBARU_CAR[bundle_platform].config.flags
-      caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
-      caps["has_stop_and_go"] = caps["subaru_has_sng"]
-    except KeyError:
-      cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
-
-  if caps["brand"] == "hyundai" and bundle_platform:
-    try:
-      unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
-      caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
-    except KeyError:
-      cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+  _resolve_brand_capabilities(caps, bundle_platform, CP)
 
   return caps
 

sunnypilot/sunnylink/settings_ui.json

@@ -1664,13 +1664,13 @@
         {
           "id": "updates",
           "title": "Updates",
-          "description": "Control automatic software updates",
+          "description": "Control software updates",
           "items": [
             {
               "key": "DisableUpdates",
               "widget": "toggle",
               "title": "Disable Updates",
-              "description": "When enabled, automatic software updates will be off. This requires a reboot to take effect.",
+              "description": "When enabled, software updates will be off. This requires a reboot to take effect.",
               "enablement": [
                 {
                   "type": "offroad_only"

sunnypilot/sunnylink/settings_ui_src/pages/software.yaml

@@ -9,12 +9,12 @@ description: Software update preferences
 sections:
 - id: updates
   title: Updates
-  description: Control automatic software updates
+  description: Control software updates
   items:
   - key: DisableUpdates
     widget: toggle
     title: Disable Updates
-    description: When enabled, automatic software updates will be off. This requires a reboot to take effect.
+    description: When enabled, software updates will be off. This requires a reboot to take effect.
     enablement:
     - $ref: '#/macros/offroad'
     - $ref: '#/macros/advanced_only'