Merge branch 'stats_sp' into hkg-angle-steering-2025-stats

# Conflicts: # opendbc_repo
handle them all
2026-07-11 22:32:07 +08:00 · 2025-11-03 17:27:42 -05:00 · 2025-11-03 17:23:16 -05:00 · 2025-11-03 17:17:36 -05:00 · 2025-11-03 17:16:27 -05:00 · 2025-11-03 14:39:53 -05:00
38 changed files with 3972 additions and 581 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO
@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
@@ -20,4 +20,11 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -1,30 +1,6 @@
-sunnypilot Version 2025.003.000 (20xx-xx-xx)
+sunnypilot Version 2025.002.000 (2025-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
@@ -172,14 +172,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualRadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualRadarTracksDelay", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
-    {"VisualWideCam", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualStyle", {PERSISTENT | BACKUP, INT, "0"}},
-    {"VisualStyleZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualStyleOverhead", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualStyleOverheadZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"VisualStyleOverheadThreshold", {PERSISTENT | BACKUP, INT, "20"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -268,4 +260,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
+
+    // Tuning keys
+    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
+    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
@@ -25,11 +25,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
  // update engageability/experimental mode button
  experimental_btn->updateState(s);
  dmon.updateState(s);
-  if (s.scene.visual_style == 0) {
-    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
-  } else {
-    setBackgroundColor(QColor(0, 0, 0));
-  }
 }

 void AnnotatedCameraWidget::initializeGL() {
@@ -40,12 +35,7 @@ void AnnotatedCameraWidget::initializeGL() {
  qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));

  prev_draw_t = millis_since_boot();
-  auto *s = uiState();
-  if (s->scene.visual_style == 0) {
-    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
-  } else {
-    setBackgroundColor(QColor(0, 0, 0));
-  }
+  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }

 mat4 AnnotatedCameraWidget::calcFrameMatrix() {
@@ -128,13 +118,7 @@ void AnnotatedCameraWidget::paintGL() {
      } else if (v_ego > 15) {
        wide_cam_requested = false;
      }
-      if (s->scene.visual_wide_cam == 1) {
-        wide_cam_requested = true;
-      } else if (s->scene.visual_wide_cam == 2) {
-        wide_cam_requested = false;
-      } else {
-        wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-      }
+      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
    }
    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
    CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
@@ -1,5 +1,4 @@
 #include "selfdrive/ui/qt/onroad/model.h"
-#include <algorithm>

 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
  auto *s = uiState();
@@ -50,14 +49,8 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
 }

 void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
-  auto *s = uiState();
  const auto &model_position = model.getPosition();
-  float max_distance;
-  if (s->scene.visual_style == 0) {
-    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
-  } else {
-    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
-  }
+  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);

  // update lane lines
  const auto &lane_lines = model.getLaneLines();
@@ -65,11 +58,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
  for (int i = 0; i < std::size(lane_line_vertices); i++) {
    lane_line_probs[i] = line_probs[i];
-    if (s->scene.visual_style == 2) {
-      mapLineToPolygon(lane_lines[i], 0.075 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
-    } else {
-      mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
-    }
+    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
  }

  // update road edges
@@ -77,11 +66,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  const auto &edge_stds = model.getRoadEdgeStds();
  for (int i = 0; i < std::size(road_edge_vertices); i++) {
    road_edge_stds[i] = edge_stds[i];
-    if (s->scene.visual_style == 2) {
-      mapLineToPolygon(road_edges[i], 0.1, 0, &road_edge_vertices[i], max_idx);
-    } else {
-      mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
-    }
+    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
  }

  // update path
@@ -94,112 +79,16 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
 }

 void ModelRenderer::drawLaneLines(QPainter &painter) {
-  auto *s = uiState();
-  if (s->scene.visual_style == 2) {
-    QRectF r = clip_region;
+  // lanelines
+  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+    painter.drawPolygon(lane_line_vertices[i]);
+  }

-    qreal horizonY = r.bottom();
-    if (!road_edge_vertices[0].isEmpty() || !road_edge_vertices[1].isEmpty()) {
-      qreal leftH  = r.top();
-      qreal rightH = r.top();
-
-      if (!road_edge_vertices[0].isEmpty()) {
-        leftH = std::numeric_limits<qreal>::max();
-        for (const QPointF &pt : road_edge_vertices[0]) {
-          if (pt.y() < leftH) leftH = pt.y();
-        }
-      }
-
-      if (!road_edge_vertices[1].isEmpty()) {
-        rightH = std::numeric_limits<qreal>::max();
-        for (const QPointF &pt : road_edge_vertices[1]) {
-          if (pt.y() < rightH) rightH = pt.y();
-        }
-      }
-
-      horizonY = std::max(leftH, rightH);
-    }
-
-    painter.fillRect(QRectF(r.left(), horizonY + 0, r.width(), r.bottom() - (horizonY + 0)), QColor("#111111"));
-
-    auto buildFill = [&](const QPolygonF &edgeRibbon, bool isLeftSide) -> QPolygonF {
-      if (edgeRibbon.isEmpty()) return {};
-
-      QMap<int, QPointF> byY;
-      for (const QPointF &pt : edgeRibbon) {
-        int yi = int(std::round(pt.y()));
-        if (!byY.contains(yi)) {
-          byY[yi] = pt;
-        } else {
-          if (isLeftSide) {
-            if (pt.x() > byY[yi].x()) byY[yi] = pt;
-          } else {
-            if (pt.x() < byY[yi].x()) byY[yi] = pt;
-          }
-        }
-      }
-      if (byY.isEmpty()) return {};
-
-      QPolygonF curve;
-      for (auto it = byY.cbegin(); it != byY.cend(); ++it) {
-        curve << it.value();
-      }
-      if (curve.size() < 2) return {};
-
-      const qreal topY = curve.first().y();
-      QPolygonF fill;
-      if (isLeftSide) {
-        fill << QPointF(r.left(), topY);
-        for (const QPointF &pt : curve) fill << pt;
-        fill << QPointF(r.left(), r.bottom());
-      } else {
-        fill << QPointF(r.right(), topY);
-        for (const QPointF &pt : curve) fill << pt;
-        fill << QPointF(r.right(), r.bottom());
-      }
-      return fill;
-    };
-
-    QPolygonF leftFill  = buildFill(road_edge_vertices[0], true);
-    QPolygonF rightFill = buildFill(road_edge_vertices[1], false);
-
-    if (!leftFill.isEmpty()) {
-      painter.setBrush(QColor("#222222"));
-      painter.drawPolygon(leftFill);
-    }
-    if (!rightFill.isEmpty()) {
-      painter.setBrush(QColor("#222222"));
-      painter.drawPolygon(rightFill);
-    }
-
-    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(0.902, 0.902, 0.902, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
-      painter.drawPolygon(lane_line_vertices[i]);
-    }
-
-    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
-      painter.setBrush(QColor(0x55, 0x55, 0x55, 255));
-      painter.drawPolygon(road_edge_vertices[i]);
-    }
-
-    QLinearGradient bgGrad(r.left(), horizonY - 100, r.left(), horizonY + 100);
-    bgGrad.setColorAt(0.0, QColor("#000000"));
-    bgGrad.setColorAt(0.5, QColor("#111111"));
-    bgGrad.setColorAt(1.0, QColor("#111111"));
-    painter.fillRect(QRectF(r.left(), horizonY - 200, r.width(), 200), bgGrad);
-
-  } else {
-    // lanelines
-    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
-      painter.drawPolygon(lane_line_vertices[i]);
-    }
-
-    // road edges
-    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
-      painter.drawPolygon(road_edge_vertices[i]);
-    }
+  // road edges
+  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
+    painter.drawPolygon(road_edge_vertices[i]);
  }
 }

@@ -286,7 +175,6 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float

 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
-  auto *s = uiState();
  const float speedBuff = 10.;
  const float leadBuff = 40.;
  const float d_rel = lead_data.getDRel();
@@ -309,133 +197,20 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
  float g_yo = sz / 10;

  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  if (s->scene.visual_style == 2) {
-    painter.setBrush(QColor(0xE6, 0xE6, 0xE6, 255));
-  } else {
-    painter.setBrush(QColor(218, 202, 37, 255));
-  }
+  painter.setBrush(QColor(218, 202, 37, 255));
  painter.drawPolygon(glow, std::size(glow));

  // chevron
  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  if (s->scene.visual_style == 2) {
-    painter.setBrush(QColor(0, 0, 0, fillAlpha));
-  } else {
-    painter.setBrush(QColor(201, 34, 49, fillAlpha));
-  }
+  painter.setBrush(QColor(201, 34, 49, fillAlpha));
  painter.drawPolygon(chevron, std::size(chevron));
 }

-float mapRange(float x, float in_min, float in_max, float out_min, float out_max) {
-  if (in_min < in_max) {
-    x = std::clamp(x, in_min, in_max);
-  } else {
-    x = std::clamp(x, in_max, in_min);
-  }
-  return out_min + (x - in_min) * (out_max - out_min) / (in_max - in_min);
-}
-
-// Projects a point in car space to the corresponding point in full frame image space.
+// Projects a point in car to space to the corresponding point in full frame image space.
 bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
-  auto *s = uiState();
-  auto &sm = *(s->sm);
-  float blend_speed_mph = fabsf(sm["carState"].getCarState().getVEgo() * 2.23694f);
-
  Eigen::Vector3f input(in_x, in_y, in_z);
-
-  if ((s->scene.visual_style_zoom == 1 || s->scene.visual_style_zoom == 2) && s->scene.visual_style != 0) {
-    float zoom_start = 20.0f;
-    float zoom_end   = 50.0f;
-
-    if (s->scene.visual_style_zoom == 2) {
-      std::swap(zoom_start, zoom_end);
-    }
-
-    float IN_X_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 24.0f);
-    float IN_Y_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 1.0f, 2.0f);
-    float IN_Z_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
-    float PITCH_DEG   = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
-
-    input = Eigen::Vector3f(in_x + IN_X_OFFSET, in_y / IN_Y_OFFSET, in_z + IN_Z_OFFSET);
-    Eigen::AngleAxisf pitch_rot(PITCH_DEG * M_PI / 180.0f, Eigen::Vector3f::UnitY());
-    input = pitch_rot * input;
-  }
-
  auto pt = car_space_transform * input;
-  bool normal_valid = (pt.z() > 1e-3f &&
-                       std::isfinite(pt.x()) && std::isfinite(pt.y()));
-  QPointF normal_view;
-  if (normal_valid) {
-    normal_view = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
-  }
-
-  const float base_scale_x = 20.0f;
-  const float base_scale_y = 15.0f;
-  const float y_offset = 450.0f;
-
-  float factor_scale_x = 0.0f;
-  if (blend_speed_mph > 0.0f) {
-    if (s->scene.visual_style_overhead_zoom == 1) {
-      factor_scale_x = mapRange(blend_speed_mph, 0.0f, 50.0f, 30.0f, 0.0f);
-    } else if (s->scene.visual_style_overhead_zoom == 2) {
-      factor_scale_x = mapRange(blend_speed_mph, 50.0f, 0.0f, 30.0f, 0.0f);
-    }
-  }
-
-  float scale_x = base_scale_x + factor_scale_x;
-  float scale_y = base_scale_y;
-
-  QPointF topdown_view(
-    clip_region.center().x() + in_y * scale_x,
-    (clip_region.bottom() - y_offset) - in_x * scale_y
-  );
-
-  if ((s->scene.visual_style_overhead == 1 || s->scene.visual_style_overhead == 2) && s->scene.visual_style != 0) {
-    static float blend = 0.0f;
-    static float target_blend = 0.0f;
-    static double last_t = millis_since_boot();
-
-    const bool inverted = (s->scene.visual_style_overhead == 2);
-    const float threshold = s->scene.visual_style_overhead_threshold;
-    const float hysteresis = 5.0f;
-
-    if (!inverted) {
-      if (target_blend < 0.5f && blend_speed_mph > threshold) {
-        target_blend = 1.0f;
-      } else if (target_blend > 0.5f && blend_speed_mph < threshold - hysteresis) {
-        target_blend = 0.0f;
-      }
-    } else {
-      if (target_blend < 0.5f && blend_speed_mph < threshold) {
-        target_blend = 1.0f;
-      } else if (target_blend > 0.5f && blend_speed_mph > threshold + hysteresis) {
-        target_blend = 0.0f;
-      }
-    }
-
-    double now = millis_since_boot();
-    double dt = (now - last_t) / 1000.0;
-    last_t = now;
-
-    const float transition_time = 1.50f;
-    float step = dt / transition_time;
-
-    if (blend < target_blend) {
-      blend = std::min(blend + step, target_blend);
-    } else if (blend > target_blend) {
-      blend = std::max(blend - step, target_blend);
-    }
-
-    if (!normal_valid) return false;
-    *out = QPointF(
-      (1 - blend) * normal_view.x() + blend * topdown_view.x(),
-      (1 - blend) * normal_view.y() + blend * topdown_view.y()
-    );
-  } else {
-    if (!normal_valid) return false;
-    *out = normal_view;
-  }
-
+  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
  return clip_region.contains(*out);
 }

@@ -196,7 +196,6 @@ mat4 CameraWidget::calcFrameMatrix() {
 }

 void CameraWidget::paintGL() {
-  auto *s = uiState();
  glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

@@ -249,9 +248,7 @@ void CameraWidget::paintGL() {

  glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
  glEnableVertexAttribArray(0);
-  if (s->scene.visual_style == 0) {
-    glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
-  }
+  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
  glDisableVertexAttribArray(0);
  glBindVertexArray(0);
  glBindTexture(GL_TEXTURE_2D, 0);
@@ -52,6 +52,7 @@ lateral_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
  "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",
@@ -0,0 +1,87 @@
+/**
+ * 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/lateral/angle_tuning_settings.h"
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+  main_layout->setSpacing(20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  auto *list = new ListWidgetSP(this, false);
+
+  main_layout->addWidget(new QWidget());
+
+  enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
+  list->addItem(enableHkgAngleSmoothingFactor);
+
+  auto first_row = new QHBoxLayout();
+  hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
+  connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
+    this->updateToggles(offroad);
+  });
+  first_row->addWidget(hkgTuningOverridingCycles);
+
+  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
+  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  first_row->addWidget(hkgAngleMinTorque);
+  list->addItem(first_row);
+
+  auto second_row = new QHBoxLayout();
+  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
+  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  second_row->addWidget(hkgAngleActiveTorque);
+
+  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
+  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
+    this->updateToggles(offroad);
+  });
+  second_row->addWidget(hkgAngleMaxTorque);
+  list->addItem(second_row);
+  
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
+
+  main_layout->addWidget(new ScrollViewSP(list, this));
+
+  auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
+  warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
+  main_layout->addWidget(warning, 0, Qt::AlignCenter);
+}
+
+void AngleTunningSettings::showEvent(QShowEvent *event) {
+  updateToggles(offroad);
+}
+
+void AngleTunningSettings::updateToggles(bool _offroad) {
+  auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
+  enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
+
+  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
+  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
+
+  auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
+  hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
+
+  auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
+  hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
+
+  auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
+  hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
+
+  offroad = _offroad;
+}
@@ -0,0 +1,39 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class AngleTunningSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit AngleTunningSettings(QWidget *parent = nullptr);
+
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+public slots:
+  void updateToggles(bool _offroad);
+
+private:
+  Params params;
+  bool offroad;
+
+  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
+  OptionControlSP* hkgAngleMinTorque;
+  OptionControlSP* hkgAngleActiveTorque;
+  OptionControlSP* hkgAngleMaxTorque;
+  OptionControlSP* hkgTuningOverridingCycles;
+};
@@ -120,6 +120,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
    updateToggles(offroad);
  });

+#pragma region hkg angle tuning
+  list->addItem(vertical_space());
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
+  // HKG Angle Tuning
+  // angleTuningToggle = new ParamControl(
+  //   "AngleTuning",
+  //   tr("Modular Assistive Driving System (MADS)"),
+  //   tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
+  //   "");
+  // angleTuningToggle->setConfirmation(true, false);
+  // list->addItem(angleTuningToggle);
+
+  angleTuningSettingsButton = new PushButtonSP(tr("Customize ANGLE Tuning"));
+  angleTuningSettingsButton->setObjectName("angle_btn");
+  connect(angleTuningSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(angleTuningWidget);
+  });
+  // QObject::connect(angleTuningToggle, &ToggleControl::toggleFlipped, angleTuningSettingsButton, &PushButtonSP::setEnabled);
+
+  angleTuningWidget = new AngleTunningSettings(this);
+  connect(angleTuningWidget, &AngleTunningSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(angleTuningSettingsButton);
+#pragma endregion
+
  QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);

  sunnypilotScroller = new ScrollViewSP(list, this);
@@ -127,6 +157,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {

  main_layout->addWidget(sunnypilotScreen);
  main_layout->addWidget(madsWidget);
+  main_layout->addWidget(angleTuningWidget);
  main_layout->addWidget(laneChangeWidget);
  main_layout->addWidget(torqueLateralControlWidget);

@@ -188,6 +219,7 @@ void LateralPanel::updateToggles(bool _offroad) {

  madsToggle->setEnabled(_offroad);
  madsSettingsButton->setEnabled(madsToggle->isToggled());
+  // angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled());

  torqueLateralControlToggle->setEnabled(_offroad && torque_allowed && !nnlcToggle->isToggled());
  torqueLateralControlSettingsButton->setEnabled(torqueLateralControlToggle->isToggled());
@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
@@ -39,8 +40,11 @@ private:
  bool offroad;

  ParamControl *madsToggle;
+  // ParamControl *angleTuningToggle;
  PushButtonSP *madsSettingsButton;
+  PushButtonSP *angleTuningSettingsButton;
  MadsSettings *madsWidget = nullptr;
+  AngleTunningSettings *angleTuningWidget = nullptr;
  PushButtonSP *laneChangeSettingsButton;
  LaneChangeSettings *laneChangeWidget = nullptr;
  NeuralNetworkLateralControl *nnlcToggle = nullptr;
@@ -188,7 +188,6 @@ void LongitudinalPanel::refresh(bool _offroad) {
        customAccIncrement->setDescription(accEnabledDescription);
      }
    } else {
-      customAccIncrement->toggleFlipped(false);
      customAccIncrement->setDescription(accNoLongDescription);
      customAccIncrement->showDescription();
    }
@@ -11,18 +11,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  param_watcher = new ParamWatcher(this);
  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
    paramsRefresh();
-    if (param_name == "VisualStyle") {
-      visual_style_value = param_value.toInt();
-    } else if (param_name == "VisualStyleOverhead") {
-      visual_style_overhead_value = param_value.toInt();
-    } else if (param_name == "VisualRadarTracks") {
-      bool radar_tracks_enabled = param_value.toInt() != 0;
-      visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
-    }
-    visual_style_zoom_settings->setVisible(visual_style_value != 0);
-    visual_style_overhead_settings->setVisible(visual_style_value != 0);
-    visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
-    visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
  });

  main_layout = new QStackedLayout(this);
@@ -102,13 +90,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
      "",
      false,
    },
-    {
-      "VisualRadarTracks",
-      tr("Show Radar Tracks"),
-      tr("Shows what the cars radar sees."),
-      "",
-      false,
-    },
  };

  // Add regular toggles first
@@ -135,111 +116,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    param_watcher->addParam(param);
  }

-  // Visuals: Radar Tracks Delay
-  visual_radar_tracks_delay_settings = new OptionControlSP("VisualRadarTracksDelay", tr("Adjust Visual Radar Tracks Delay"),
-                                      tr("Delays radar tracks to better match what you see through the camera."),
-                                      "", {0, 100}, 10, false, nullptr, true);
-
-  connect(visual_radar_tracks_delay_settings, &OptionControlSP::updateLabels, [=]() {
-    float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
-    visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
-  });
-
-  float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
-  visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
-
-  list->addItem(visual_radar_tracks_delay_settings);
-
-  // Wide Cam
-  std::vector<QString> visual_wide_cam_settings_texts{tr("Auto"), tr("On"), tr("Off")};
-  visual_wide_cam_settings = new ButtonParamControlSP(
-    "VisualWideCam", tr("Wide Cam"), tr("Override the wide cam view regardless of experimental mode status."),
-    "",
-    visual_wide_cam_settings_texts,
-    250);
-  list->addItem(visual_wide_cam_settings);
-
-  // Visual Style
-  std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision")};
-  visual_style_settings = new ButtonParamControlSP(
-    "VisualStyle", tr("Visual Style"),
-    tr(
-      "Switch between different on-road visualization layouts."
-      "<ul style='margin-left: 10px; margin-top: 4px;'>"
-      "<li><b>Default:</b> Standard OpenPilot layout with camera and path view.</li>"
-      "<li><b>Minimal:</b> Clean interface without camera feed or extra elements.</li>"
-      "<li><b>Vision:</b> Experimental layout that focuses on model perception and environment.</li>"
-      "</ul>"
-    ),
-    "",
-    visual_style_settings_texts,
-    380);
-  list->addItem(visual_style_settings);
-
-  // Visual Style Zoom
-  std::vector<QString> visual_style_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
-  visual_style_zoom_settings = new ButtonParamControlSP(
-    "VisualStyleZoom", tr("Visual Style Zoom"),
-    tr(
-      "Enables dynamic zooming based on driving speed in the selected visual style."
-      "<ul style='margin-left: 10px; margin-top: 4px;'>"
-      "<li><b>Disabled:</b> Keeps the zoom fixed.</li>"
-      "<li><b>Enabled:</b> Zooms in at low speed and out at high speed.</li>"
-      "<li><b>Inverted:</b> Reverses the zoom behavior.</li>"
-      "</ul>"
-    ),
-    "",
-    visual_style_zoom_settings_texts,
-    380);
-  list->addItem(visual_style_zoom_settings);
-
-  // Visual Style Overhead
-  std::vector<QString> visual_style_overhead_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
-  visual_style_overhead_settings = new ButtonParamControlSP(
-    "VisualStyleOverhead", tr("Visual Style Overhead"),
-    tr(
-      "Toggles an overhead (top-down) camera view for a 2D-style perspective."
-      "<ul style='margin-left: 10px; margin-top: 4px;'>"
-      "<li><b>Disabled:</b> Keeps the standard forward 3D view.</li>"
-      "<li><b>Enabled:</b> Switches to overhead view when active.</li>"
-      "<li><b>Inverted:</b> Reverses when the transition happens.</li>"
-      "</ul>"
-    ),
-    "",
-    visual_style_overhead_settings_texts,
-    380);
-  list->addItem(visual_style_overhead_settings);
-
-  // Visual Style Overhead Zoom
-  std::vector<QString> visual_style_overhead_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
-  visual_style_overhead_zoom_settings = new ButtonParamControlSP(
-    "VisualStyleOverheadZoom", tr("Visual Style Overhead Zoom"),
-    tr(
-      "Controls zooming behavior while in overhead mode."
-      "<ul style='margin-left: 10px; margin-top: 4px;'>"
-      "<li><b>Disabled:</b> Keeps a fixed zoom level in overhead mode.</li>"
-      "<li><b>Enabled:</b> Zooms dynamically based on speed while overhead.</li>"
-      "<li><b>Inverted:</b> Opposite zoom direction.</li>"
-      "</ul>"
-    ),
-    "",
-    visual_style_overhead_zoom_settings_texts,
-    380);
-  list->addItem(visual_style_overhead_zoom_settings);
-
-  // Visual Style Overhead Threshold
-  visual_style_overhead_threshold_settings = new OptionControlSP(
-    "VisualStyleOverheadThreshold", tr("Visual Style Overhead Threshold"),
-    tr("Sets the speed (in mph) where the display transitions between normal and overhead view."),
-    "", {10, 80}, 5, false, nullptr, false);
-  auto updateThresholdLabel = [=]() {
-    int mph = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
-    visual_style_overhead_threshold_settings->setLabel(QString("%1 mph").arg(mph));
-  };
-  connect(visual_style_overhead_threshold_settings, &OptionControlSP::updateLabels, updateThresholdLabel);
-  updateThresholdLabel();
-  list->addItem(visual_style_overhead_threshold_settings);
-
  // Visuals: Display Metrics below Chevron
  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
  chevron_info_settings = new ButtonParamControlSP(
@@ -260,19 +136,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    380);
  list->addItem(dev_ui_settings);

-  bool radar_tracks_enabled = QString::fromStdString(params.get("VisualRadarTracks")).toInt() != 0;
-  visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
-  param_watcher->addParam("VisualRadarTracks");
-
-  visual_style_value = QString::fromStdString(params.get("VisualStyle")).toInt();
-  visual_style_overhead_value = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
-  visual_style_zoom_settings->setVisible(visual_style_value != 0);
-  visual_style_overhead_settings->setVisible(visual_style_value != 0);
-  visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
-  visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
-  param_watcher->addParam("VisualStyle");
-  param_watcher->addParam("VisualStyleOverhead");
-
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);

@@ -328,19 +191,4 @@ void VisualsPanel::paramsRefresh() {
  if (dev_ui_settings) {
    dev_ui_settings->refresh();
  }
-  if (visual_wide_cam_settings) {
-    visual_wide_cam_settings->refresh();
-  }
-  if (visual_style_settings) {
-    visual_style_settings->refresh();
-  }
-  if (visual_style_zoom_settings) {
-    visual_style_zoom_settings->refresh();
-  }
-  if (visual_style_overhead_settings) {
-    visual_style_overhead_settings->refresh();
-  }
-  if (visual_style_overhead_zoom_settings) {
-    visual_style_overhead_zoom_settings->refresh();
-  }
 }
@@ -32,14 +32,4 @@ protected:
 ButtonParamControlSP *dev_ui_settings;

 bool has_longitudinal_control = false;
-
- OptionControlSP *visual_radar_tracks_delay_settings;
- ButtonParamControlSP *visual_wide_cam_settings;
- int visual_style_value = 0;
- int visual_style_overhead_value = 0;
- ButtonParamControlSP *visual_style_settings;
- ButtonParamControlSP *visual_style_zoom_settings;
- ButtonParamControlSP *visual_style_overhead_settings;
- ButtonParamControlSP *visual_style_overhead_zoom_settings;
- OptionControlSP *visual_style_overhead_threshold_settings;
 };
@@ -8,12 +8,6 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"


-void ModelRendererSP::drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius) {
-  painter.setBrush(QColor(255, 255, 255, 200));
-  painter.setPen(Qt::NoPen);
-  painter.drawEllipse(pos, radius, radius);
-}
-
 void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
  ModelRenderer::update_model(model, lead);
  const auto &model_position = model.getPosition();
@@ -73,26 +67,6 @@ void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
    const bool right_blindspot = car_state.getRightBlindspot();
    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
  }
-
-  if (s->scene.visual_radar_tracks) {
-    if (sm.alive("liveTracks") && sm.rcv_frame("liveTracks") >= s->scene.started_frame) {
-      const auto &tracks = sm["liveTracks"].getLiveTracks().getPoints();
-      for (const auto &track : tracks) {
-        if (!std::isfinite(track.getDRel()) || !std::isfinite(track.getYRel())) continue;
-        float t_lag = s->scene.visual_radar_tracks_delay;
-        float d_pred = track.getDRel();
-        float y_pred = track.getYRel();
-        if (t_lag > 0.0f) {
-          d_pred += track.getVRel() * t_lag + 0.5f * track.getARel() * t_lag * t_lag;
-        }
-        QPointF screen_pt;
-        if (mapToScreen(d_pred, -y_pred, path_offset_z, &screen_pt)) {
-          drawRadarPoint(painter, screen_pt, track.getVRel(), 10.0f);
-        }
-      }
-    }
-  }
-
  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());

  painter.restore();
@@ -28,6 +28,4 @@ private:

  // Lead status animation
  float lead_status_alpha = 0.0f;
-
-  void drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius = 10.0f);
 };
@@ -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", "liveTracks"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
  });

  // update timer
@@ -44,14 +44,6 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
  });
  param_watcher->addParam("DevUIInfo");
  param_watcher->addParam("StandstillTimer");
-  param_watcher->addParam("VisualRadarTracks");
-  param_watcher->addParam("VisualRadarTracksDelay");
-  param_watcher->addParam("VisualWideCam");
-  param_watcher->addParam("VisualStyle");
-  param_watcher->addParam("VisualStyleZoom");
-  param_watcher->addParam("VisualStyleOverhead");
-  param_watcher->addParam("VisualStyleOverheadZoom");
-  param_watcher->addParam("VisualStyleOverheadThreshold");
 }

 // This method overrides completely the update method from the parent class intentionally.
@@ -84,17 +76,6 @@ void ui_update_params_sp(UIStateSP *s) {
  s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
  s->scene.blindspot_ui = params.getBool("BlindSpot");
  s->scene.rainbow_mode = params.getBool("RainbowMode");
-
-  s->scene.visual_radar_tracks = QString::fromStdString(params.get("VisualRadarTracks")).toInt();
-  s->scene.visual_radar_tracks_delay = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
-
-  s->scene.visual_wide_cam = QString::fromStdString(params.get("VisualWideCam")).toInt();
-
-  s->scene.visual_style = QString::fromStdString(params.get("VisualStyle")).toInt();
-  s->scene.visual_style_zoom = QString::fromStdString(params.get("VisualStyleZoom")).toInt();
-  s->scene.visual_style_overhead = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
-  s->scene.visual_style_overhead_zoom = QString::fromStdString(params.get("VisualStyleOverheadZoom")).toInt();
-  s->scene.visual_style_overhead_threshold = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
 }

 void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
@@ -21,12 +21,4 @@ typedef struct UISceneSP : UIScene {
  int chevron_info;
  bool blindspot_ui;
  bool rainbow_mode;
-  int visual_radar_tracks = 0;
-  float visual_radar_tracks_delay = 0;
-  int visual_wide_cam = 0;
-  int visual_style = 0;
-  int visual_style_zoom = 0;
-  int visual_style_overhead = 0;
-  int visual_style_overhead_zoom = 0;
-  int visual_style_overhead_threshold = 20.0;
 } UISceneSP;
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.003.000"
+#define SUNNYPILOT_VERSION "2025.002.000"
@@ -15,8 +15,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_

 import openpilot.system.sentry as sentry

-from sunnypilot.sunnylink.statsd import STATSLOGSP
-

 def log_fingerprint(CP: structs.CarParams) -> None:
  if CP.carFingerprint == "MOCK":
@@ -102,9 +100,6 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
  _cleanup_unsupported_params(CP, CP_SP)

-  STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
-  # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
-

 def initialize_params(params) -> list[dict[str, Any]]:
  keys: list = []
@@ -34,6 +34,9 @@ SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require
 DISALLOW_LOG_UPLOAD = threading.Event()

 params = Params()
+sunnylink_dongle_id = params.get("SunnylinkDongleId")
+sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+

 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
  cloudlog.info("sunnylinkd.handle_long_poll started")
@@ -49,7 +52,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
              threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
              threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
              # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
-              threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
+              threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root()), name='stat_handler'),
            ] + [
              threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
              for x in range(HANDLER_THREADS)
@@ -130,8 +133,6 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:


 def ws_queue(end_event: threading.Event) -> None:
-  sunnylink_dongle_id = params.get("SunnylinkDongleId")
-  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
  resume_requested = False
  tries = 0

@@ -233,9 +234,6 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N


 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
-  sunnylink_dongle_id = params.get("SunnylinkDongleId")
-  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
-
  cloudlog.debug("athena.startLocalProxy.starting")
  ws = create_connection(
    remote_ws_uri,
@@ -257,8 +255,6 @@ def main(exit_event: threading.Event = None):
    cloudlog.info("Waiting for sunnylink registration to complete")
    time.sleep(10)

-  sunnylink_dongle_id = params.get("SunnylinkDongleId")
-  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
  UploadQueueCache.initialize(upload_queue)

  ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
@@ -23,26 +23,21 @@ from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET,
 from openpilot.system.statsd import METRIC_TYPE, StatLogSP
 from openpilot.common.realtime import Ratekeeper

-STATSLOGSP = StatLogSP(intercept=False)

 def sp_stats(end_event):
  """Collect sunnypilot-specific statistics and send as raw metrics."""
  rk = Ratekeeper(.1, print_delay_threshold=None)
-  statlogsp = STATSLOGSP
+  statlogsp = StatLogSP(intercept=False)
  params = Params()

  def flatten_dict(d, parent_key='', sep='.'):
    items = {}
-    if isinstance(d, dict):
-      for k, v in d.items():
-        new_key = f"{parent_key}{sep}{k}" if parent_key else k
+    for k, v in d.items():
+      new_key = f"{parent_key}{sep}{k}" if parent_key else k
+      if isinstance(v, dict):
        items.update(flatten_dict(v, new_key, sep=sep))
-    elif isinstance(d, (list, tuple)):
-      for i, v in enumerate(d):
-        new_key = f"{parent_key}[{i}]"
-        items.update(flatten_dict(v, new_key, sep=sep))
-    else:
-      items[parent_key] = d
+      else:
+        items[new_key] = v
    return items

  # Collect sunnypilot parameters
@@ -53,7 +48,6 @@ def sp_stats(end_event):
    'AutoLaneChangeBsmDelay',
    'AutoLaneChangeTimer',
    'CarPlatformBundle',
-    'CurrentRoute',
    'DevUIInfo',
    'EnableCopyparty',
    'IntelligentCruiseButtonManagement',
@@ -64,7 +58,6 @@ def sp_stats(end_event):
    'MadsMainCruiseAllowed',
    'MadsSteeringMode',
    'MadsUnifiedEngagementMode',
-    'ModelManager_ActiveBundle',
    'ModelManager_Favs',
    'EnableSunnylinkUploader',
    'SunnylinkEnabled',
@@ -86,13 +79,13 @@ def sp_stats(end_event):
        if value is None:
          continue

-        if isinstance(value, (dict, list, tuple)):
+        if isinstance(value, dict):
          stats_dict.update(flatten_dict(value, key))
        else:
          stats_dict[key] = value

      if stats_dict:
-        statlogsp.raw('sunnypilot.device_params', stats_dict)
+        statlogsp.raw('sunnypilot_params', stats_dict)
    except Exception as e:
      cloudlog.error(f"Exception {e}")
    finally:
@@ -118,26 +111,14 @@ def stats_main(end_event):
    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
    return res

-  def get_influxdb_line_raw(measurement: str, value: dict, timestamp: datetime, tags: dict) -> str:
+  def get_influxdb_line_raw(measurement: str, value: dict[str, float], timestamp: datetime, tags: dict) -> str:
    res = f"{measurement}"
-    try:
-      custom_tags = ""
-      for k, v in tags.items():
-        custom_tags += f",{k}={str(v)}"
-      res += custom_tags
+    for k, v in tags.items():
+      res += f",{k}={str(v)}"
+    res += " "

-      fields = ""
-      for k, v in value.items():
-        # Skip complex types - only keep simple scalar values
-        if isinstance(v, (dict, list, bytes, bytearray)):
-          continue
-
-        fields += f"{k}={json.dumps(v)},"
-
-      res += f" {fields}"
-    except Exception as e:
-      cloudlog.error(f"Unable to get influxdb line for: {value}")
-      res += f",invalid=1 reason={e},"
+    for k, v in value.items():
+      res += f"{k}=\"{str(v)}\","

    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
    return res
@@ -744,7 +744,7 @@ def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None
      cloudlog.exception("athena.log_handler.exception")


-def stat_handler(end_event: threading.Event, stats_dir=None, is_sunnylink=False) -> None:
+def stat_handler(end_event: threading.Event, stats_dir=None) -> None:
  stats_dir = stats_dir or Paths.stats_root()
  last_scan = 0.0

@@ -756,28 +756,14 @@ def stat_handler(end_event: threading.Event, stats_dir=None, is_sunnylink=False)
        if len(stat_filenames) > 0:
          stat_path = os.path.join(stats_dir, stat_filenames[0])
          with open(stat_path) as f:
-            payload = f.read()
-            is_compressed = False
-
-            # Log the current size of the file
-            if is_sunnylink:
-              # Compress and encode the data if it exceeds the maximum size
-              compressed_data = gzip.compress(payload.encode())
-              payload = base64.b64encode(compressed_data).decode()
-              is_compressed = True
-
            jsonrpc = {
              "method": "storeStats",
              "params": {
-                "stats": payload
+                "stats": f.read()
              },
              "jsonrpc": "2.0",
              "id": stat_filenames[0]
            }
-
-            if is_sunnylink and is_compressed:
-              jsonrpc["params"]["compressed"] = is_compressed
-
            low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
          os.remove(stat_path)
        last_scan = curr_scan
@@ -24,6 +24,8 @@ SP_BRANCH_MIGRATIONS = {
  ("tizi", "staging-c3-new"): "staging",
  ("tizi", "dev-c3-new"): "dev",
  ("tizi", "master-dev-c3-new"): "master-dev",
+  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
+  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }

 BUILD_METADATA_FILENAME = "build.json"
@@ -0,0 +1,183 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="actuator data">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.100000" left="301.990881" top="0.100000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carControl/actuators/torque" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-130.920132" left="301.990881" top="103.993176" right="462.962504"/>
+       <limitY/>
+       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.604818" left="301.990881" top="24.797527" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.037812" left="301.990881" top="0.047261" right="462.962504"/>
+       <limitY/>
+       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="steering messages (CAN)">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.142857;0.142857;0.142857;0.142857;0.142857;0.142857;0.142857" count="7">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-128.740000" left="301.990881" top="103.940000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/ADAS_StrAnglReqVal" color="#29d627"/>
+       <curve name="/can/192/LKAS_ALT/ADAS_StrAnglReqVal" color="#b41f32"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/steerFaultTemporary" color="#d62728"/>
+       <curve name="/carControl/latActive" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
+       <limitY/>
+       <curve name="/pandaStates/0/safetyTxBlocked" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Understanding Torque">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-6.175000" left="429.901019" top="253.175000" right="590.696728"/>
+       <limitY/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-24.190000" left="301.990881" top="21.590000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="tab2">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#9467bd"/>
+       <curve name="/can/1/LFA_ALT/ADAS_ACIAnglTqRedcGainVal" color="#17becf"/>
+       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+       <curve name="/can/192/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
+       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#b8c91a"/>
+       <curve name="/can/192/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
+       <curve name="/carState/steerFaultTemporary" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
+       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
+       <limitY/>
+       <curve name="/pandaStates/0/safetyTxBlocked" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="3"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
@@ -0,0 +1,636 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="actuator data" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-0.100000" left="6.467547" top="0.100000"/>
+       <limitY/>
+       <curve name="/carControl/actuators/torque" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-356.587494" left="6.467547" top="491.287506"/>
+       <limitY/>
+       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-0.856228" left="6.467547" top="35.834527"/>
+       <limitY/>
+       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-0.186684" left="6.467547" top="0.134230"/>
+       <limitY/>
+       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="steering messages (CAN)" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-0.022000" left="6.467547" top="0.902000"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-5.168301" left="6.467547" top="4.590794"/>
+       <limitY/>
+       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-0.025000" left="6.467547" top="1.025000"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-0.100000" left="6.467547" top="0.100000"/>
+       <limitY/>
+       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="Understanding Torque" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="722.420439" bottom="-6.250000" left="0.000000" top="256.250000"/>
+       <limitY/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-34.457500" left="6.467547" top="26.757499"/>
+       <limitY/>
+       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="Angle Error and Saturation TQ" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5">
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-356.587494" left="6.467547" top="491.287506"/>
+       <limitY/>
+       <curve name="/carControl/actuators/steeringAngleDeg" color="#d62728"/>
+       <curve name="/carState/steeringAngleDeg" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-134.196237" left="6.467547" top="34.112077"/>
+       <limitY/>
+       <curve name="Angle Error" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-0.022000" left="6.467547" top="0.902000"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-0.025000" left="6.467547" top="1.025000"/>
+       <limitY/>
+       <curve name="Angle Staturation" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
+       <range right="396.045059" bottom="-0.025000" left="6.467547" top="1.025000"/>
+       <limitY/>
+       <curve name="/carControl/latActive" color="#9467bd"/>
+       <curve name="/carState/steeringPressed" color="#17becf"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="3"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <previouslyLoaded_Datafiles>
+  <fileInfo filename="../tmpgh9xhmjb.rlog" prefix="">
+   <selected_datasources value=""/>
+  </fileInfo>
+ </previouslyLoaded_Datafiles>
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="Angle Staturation">
+   <global></global>
+   <function>if value > .3 then 
+    return 1
+end
+
+return 0</function>
+   <linked_source>Angle Error</linked_source>
+  </snippet>
+  <snippet name="ang_cmd rate">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+  <snippet name="max torque lj adj">
+   <global>min=0
+max=250
+max_from_speed=96
+
+k1=200
+k2=30
+k3=1    
+k4=1
+k5=10
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end</global>
+   <function>return 250 - value * 20</function>
+   <linked_source>desired lateral jark</linked_source>
+  </snippet>
+  <snippet name="max torque(calc)">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>la = apply_deadzone(v2, la_deadzone)
+lj = v3
+
+if la == 0.0 then
+    lj = 0.0
+end
+
+fla = math.min(math.abs(k1 * la)^k3, max)
+flj = math.min(math.abs(k2 * lj)^k4, max)
+
+out = fla
+
+flv = math.min(max_from_speed, k5 * v4)
+
+out = out + flv
+
+out = math.max(math.min(out, max), min)
+
+if sign(la) == sign(lj) then
+    out = out - flj
+else
+    out = out + flj
+end
+
+
+if v5 == 1.0 then
+    out = 0.0
+end
+
+out = math.max(math.min(out, max), min)
+out = apply_rate_limit(old, out, rate_lim)
+old = out
+
+return out</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+   <additional_sources>
+    <v1>ang_cmd rate</v1>
+    <v2>desired lat accel</v2>
+    <v3>desired lateral jark</v3>
+    <v4>/carState/vEgo</v4>
+    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
+   </additional_sources>
+  </snippet>
+  <snippet name="carState.vEgo mph">
+   <global></global>
+   <function>return value * 2.23694</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="abs(des la accel)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="roll compensated lateral acceleration">
+   <global></global>
+   <function>if (v3 == 0 and v4 == 1) then
+  return  (value * v1 ^ 2) - (v2 * 9.81)
+end
+return 0</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+    <v3>/carState/steeringPressed</v3>
+    <v4>/carControl/latActive</v4>
+   </additional_sources>
+  </snippet>
+  <snippet name="Zero">
+   <global></global>
+   <function>return (0)</function>
+   <linked_source>/carState/canValid</linked_source>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="desired lat accel">
+   <global></global>
+   <function>return value * v1^2</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="engaged_accel_actuator">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>accel = value
+brake = v1
+gas = v2
+enabled = v3
+
+if (brake ~= 0 or gas ~= 0 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/carControl/actuators/accel</linked_source>
+   <additional_sources>
+    <v1>/carState/brakePressed</v1>
+    <v2>/carState/gasPressed</v2>
+    <v3>/carControl/enabled</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="Angle Error">
+   <global>last_angle_requested = 0</global>
+   <function>angle_error = last_angle_requested - v1
+
+
+last_angle_requested = value
+return angle_error</function>
+   <linked_source>/carControl/actuators/steeringAngleDeg</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringAngleDeg</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="carState.vEgo kmh">
+   <global></global>
+   <function>return value * 3.6</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="engaged_accel_plan">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>accel = value
+brake = v1
+gas = v2
+enabled = v3
+
+if (brake ~= 0 or gas ~= 0 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/longitudinalPlan/accels/0</linked_source>
+   <additional_sources>
+    <v1>/carState/brakePressed</v1>
+    <v2>/carState/gasPressed</v2>
+    <v3>/carControl/enabled</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="engaged_accel_actual">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>accel = value
+brake = v1
+gas = v2
+enabled = v3
+
+if (brake ~= 0 or gas ~= 0 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/carState/aEgo</linked_source>
+   <additional_sources>
+    <v1>/carState/brakePressed</v1>
+    <v2>/carState/gasPressed</v2>
+    <v3>/carControl/enabled</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="desired lateral jark">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="engaged curvature plan">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>curvature = value
+pressed = v1
+enabled = v2
+
+if (pressed == 1 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/lateralPlan/curvatures/0</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/enabled</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="abs(ang_cmd)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+  <snippet name="zero">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>return 0</function>
+   <linked_source>/carState/aEgo</linked_source>
+  </snippet>
+  <snippet name="engaged curvature vehicle model">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>curvature = value
+pressed = v1
+enabled = v2
+
+if (pressed == 1 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/enabled</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  (value * -9.8) - (v3 * 9.81)
+end
+--return 0
+  return  (value * -9.8) - (v3 * 9.81)</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+    <v3>/liveParameters/roll</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^2">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  value * -9.8
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="engaged curvature yaw">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>curvature = value / v3
+pressed = v1
+enabled = v2
+
+if (pressed == 1 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return curvature
+else
+  return 0
+end</function>
+   <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/enabled</v2>
+    <v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^3">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
@@ -0,0 +1,281 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter sizes="0.500397;0.499603" count="2" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
+       <range top="256.250000" left="0.000000" right="421.102293" bottom="-6.250000"/>
+       <limitY/>
+       <curve color="#1ac938" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
+       <curve color="#17becf" name="max torque(calc)">
+        <transform name="Moving Average" alias="max torque(calc)[Moving Average]">
+         <options compensate_offset="true" value="10"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
+       <range top="2.776497" left="0.000000" right="421.102293" bottom="-2.918548"/>
+       <limitY/>
+       <curve color="#f14cc1" name="desired lat accel"/>
+       <curve color="#888888" name="zero"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <previouslyLoaded_Datafiles>
+  <fileInfo prefix="" filename="../tmpa_e8kwpj.rlog">
+   <selected_datasources value=""/>
+  </fileInfo>
+ </previouslyLoaded_Datafiles>
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="zero">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>return 0</function>
+   <linked_source>/carState/aEgo</linked_source>
+  </snippet>
+  <snippet name="max torque lj adj">
+   <global>min=0
+max=250
+max_from_speed=96
+
+k1=200
+k2=30
+k3=1    
+k4=1
+k5=10
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end</global>
+   <function>return 250 - value * 20</function>
+   <linked_source>desired lateral jark</linked_source>
+  </snippet>
+  <snippet name="ang_cmd rate">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+  <snippet name="max torque(calc)">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>la = apply_deadzone(v2, la_deadzone)
+lj = v3
+
+if la == 0.0 then
+    lj = 0.0
+end
+
+fla = math.min(math.abs(k1 * la)^k3, max)
+flj = math.min(math.abs(k2 * lj)^k4, max)
+
+out = fla
+
+flv = math.min(max_from_speed, k5 * v4)
+
+out = out + flv
+
+out = math.max(math.min(out, max), min)
+
+if sign(la) == sign(lj) then
+    out = out - flj
+else
+    out = out + flj
+end
+
+
+if v5 == 1.0 then
+    out = 0.0
+end
+
+out = math.max(math.min(out, max), min)
+out = apply_rate_limit(old, out, rate_lim)
+old = out
+
+return out</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+   <additional_sources>
+    <v1>ang_cmd rate</v1>
+    <v2>desired lat accel</v2>
+    <v3>desired lateral jark</v3>
+    <v4>/carState/vEgo</v4>
+    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
+   </additional_sources>
+  </snippet>
+  <snippet name="desired lateral jark">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="abs(des la accel)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="desired lat accel">
+   <global></global>
+   <function>return value * v1^2</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="abs(ang_cmd)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
@@ -0,0 +1,175 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-3.582051" right="1431.113121" top="5.314632" left="5.322399"/>
+       <limitY/>
+       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
+       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+       <curve name="IMU_LatAccelVal_ms^2" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-3.741271" right="1431.113121" top="3.756006" left="5.322399"/>
+       <limitY/>
+       <curve name="roll compensated lateral acceleration" color="#ff7f0e"/>
+       <curve name="IMU_LatAccelVal_Ms^2" color="#1ac938"/>
+       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-0.025000" right="1431.113121" top="1.025000" left="5.322399"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#0097ff"/>
+       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-1.660728" right="1431.113121" top="67.942958" left="5.322399"/>
+       <limitY/>
+       <curve name="/carState/vEgo" color="#f14cc1">
+        <transform name="Scale/Offset" alias="/carState/vEgo[Scale/Offset]">
+         <options value_scale="2.23694" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="tab2" containers="1">
+   <Container>
+    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="30595.900000" right="1431.113121" top="34884.100000" left="5.322399"/>
+       <limitY/>
+       <curve name="/can/1/IMU_01_10ms/IMU_RollRtVal" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-0.058795" right="1431.113121" top="0.072448" left="5.322399"/>
+       <limitY/>
+       <curve name="/liveParameters/roll" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="1"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="IMU_LatAccelVal_ms^2">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="roll compensated lateral acceleration">
+   <global></global>
+   <function>if (v3 == 0 and v4 == 1) then
+  return  (value * v1 ^ 2) - (v2 * 9.81)
+end
+return 0</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+    <v3>/carState/steeringPressed</v3>
+    <v4>/carControl/latActive</v4>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^2">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  value * -9.8
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^3">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
+   <global></global>
+   <function>
+
+if (v1 == 0 and v2 == 1) then
+  return  (value * -9.8) - (v3 * 9.81)
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+    <v3>/liveParameters/roll</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+