update versioning scheme to use v202 prefix for Release Drafter

- Changed `version-template` and `tag-prefix` to align with the `v202` versioning format.
- Prepares for improved version clarity and consistency moving forward.

.github/release-drafter.yml

@@ -34,8 +34,8 @@ version-resolver:
   default: patch
 name-template: 'v$RESOLVED_VERSION 🚀'
 tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
+version-template: "v202$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
+tag-prefix: "v202" # The day OP becomes v1, we need to bump this
 prerelease-identifier: "staging"
 template: |
   ## Changes

CHANGELOG.md

@@ -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

common/params_keys.h

@@ -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"}},

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -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());

selfdrive/ui/qt/onroad/model.cc

@@ -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);
 }
 

selfdrive/ui/qt/widgets/cameraview.cc

@@ -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);

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

@@ -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();
-  }
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h

@@ -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;
 };

selfdrive/ui/sunnypilot/qt/onroad/model.cc

@@ -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();

selfdrive/ui/sunnypilot/qt/onroad/model.h

@@ -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);
 };

selfdrive/ui/sunnypilot/ui.cc

@@ -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) {

selfdrive/ui/sunnypilot/ui_scene.h

@@ -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;

sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.003.000"
+#define SUNNYPILOT_VERSION "2025.002.000"